Dynamic Research of a Walking Pipe Robot

Abstract:

In this paper, a walking pipe robot for an inpipe inspection of an underground urban gas pipeline is presented. The robot is developed for visual and Non-Destructive Testing of pipeline networks. The robot is configured as an articulated structure – resembling a snake shape. Two active driving vehicles are located in the front and rear parts of the system. Passive modules such as a control module and other optional modules are inserted between the active vehicles. The design scheme of an inpipe inspection robot with a vibratory impulse actuator is discussed. The dynamic model of a robot with a vibratory pneumatic actuator was developed and the equations of its movement were derived.

• Periodical: Solid State Phenomena (Volume 113)
• Pages: 285-290
• DOI: https://doi.org/10.4028/www.scientific.net/SSP.113.285
• Online since: June 2006
• Authors: Vygantas Mištinas, Bronislovas Spruogis
• Keywords: A Vibratory Impulse Drive, Dynamic Modeling, Piping System, Walking Pipe Robot

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