Naslov
Development of Structure and Behavioral Model for Screw Driving In-pipe Inspection Robot based on Adaptive Mechanism on Legs

Autori
Osman, Krešimir ; Kovačić, Zdenko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 8th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS 2017 / Valašek, Michael ; Šika, Zbynek ; Vampola, Tomaš ; Hajžman, Michal ; Polach, Pavel ; Neusser, Zdenek ; Beneš, Petr ; Zavrel, Jan - Prag : Nakladatelstvi ČVUT (CTN), 2017, 619-626

ISBN
978-80-01-06713-8

Skup
ECCOMAS Thematic Conference on Multibody Dynamics 2017

Mjesto i datum
Prag, Češka Republika, 19.06.2017. - 22.06.2017

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
structure, behavior model, in-pipe inspection robot, screw drive robot, adaptive mechanism

Sažetak
This paper presents the beginning of research in connection with the development of a pipeline inspection robot. The authors aimed to describe and present a structure and behavior model of a robot designed for inspecting the interior of pipelines to be used for gas distribution. The robot structure comprises a driving section and a driven section, where each has three legs with two ankles. The driven section contains a group of wheel sets adaptable by pressing against the interior wall of the pipeline, thus maintaining balance and stability of the robot, especially when passing through brackets and T-branches in the pipeline. The driven section of the robot is powered by an electric motor and a planetary gearbox where torque is transmitted to the legs with wheels, thus moving the robot based on the screw principle through the interior of the pipeline. In addition, a robot behavior model (mathematical model) was made for the structure presented, including its kinematic and dynamic models.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Strojarstvo

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