Design of a Pipeline Inspection Mobile Robot With an Active Adaptation Mechanism

  • Michał Ciszewski
  • Mariusz Giergiel
  • Tomasz Buratowski
  • Piotr MałkaEmail author
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 82)


This chapter is focused on mechanical design and 3D modeling of the pipe inspection robot. Design objective was focused on the original pedipulator structure with closed kinematic chain. Mechanical construction of the robot was described, actuator specifications were given and video inspection equipment was outlined. On the basis of the 3D robot model, possible configurations and thus possible operation environments were visualized and commented. A complete, detailed 3D model of the robot was shown with all components that served as an indispensable resource for modeling and simulations that helped in control system design.


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Robotics and MechatronicsAGH University of Science and TechnologyKrakowPoland

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