Influence of Pipe Geometric Deviations on In-Pipe Machine Locomotion

Abstract

The paper deals with the analysis of influence of pipe deviations on in-pipe machine locomotion. In-pipe machine locomotes inside a pipe using the friction difference principle of locomotion. Main task of the machine is inspection of inner pipe wall as the prevention of pipe crack and leaks of transported medium. Pipe systems have deviations of inner pipe wall, which are caused by production process and caused by using of pipe (deformations, sediments, changes from coupling of pipes etc.). These pipe deviations have direct influence on machine locomotion inside the pipe.

Bristled Micromachines

“…This model will be used for optimizing of bristle geometry for obtaining of maximum elimination of inner pipe geometric deviation during the machine locomotion. This geometry has key impact to steady state locomotion velocity of machine and traction force of machine [11][12][13][14][15][16][17][18][19][20][21][22].…”