In-pipe Minimachine and Principles of its Motion and Control

Abstract

The paper deals with the minimachine designed to move within the pipes with inner diameter less than 25 mm. The minimachine consists of two modules connected by a link of variable length enabling to change their mutual distance. Motion is based on inchworm principle known from biology. In motion sequence one of the modules is anchored to the inner surface of the pipe, while the second is released and moved forward by change of the link length. The principle of the link length change consists in transformation of the actuator rotary movement to the linear motion. Problem of anchoring the modules by flexible metal bristles is analyzed in the paper. INTRODUCTIONNowadays the mobile machines for motion within pipes represent a promising area of Vladimír IVANČO (SK)

Educational Model of Four Legged Robot

“…It is able to overcome rough terrain against the wheeled robots. But it has higher power consumptions, because the actuators are still in start up and breaking mode [4][5][6][7][8][9][10][11][12][13][14][15][16].…”