Abstract
The paper describes the design and principles of locomotion of six-link mobile robot for monitoring pipelines with varying diameter. The description of the mathematical model of the robot movements in various modes of working is presented.
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Jatsun, S., Loktionova, O., Malchikov, A. (2014). Six-Link In-pipe Crawling Robot. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_38
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DOI: https://doi.org/10.1007/978-3-319-07058-2_38
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