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ROMANSY 11 pp 21-26 | Cite as

Modeling and Optimization of the Tube-Crawling Robot

  • F. L. Chernousko
  • N. N. Bolotnik
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)

Abstract

The pipe-crawling robot is an eight-legged walking machine that moves inside pipelines and can be used for inspection, maintenance, and repair. Optimization of structural parameters and possible gaits of the robot is discussed. The results obtained by computer simulation show a considerable sensitivity of operation characteristics of the robot with respect to its geometrical and kinematical parameters.

Keywords

Transfer Phase Control Torque Support Phase Revolute Joint Pipe Surface 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • F. L. Chernousko
    • 1
  • N. N. Bolotnik
    • 1
  1. 1.Russian Academy of SciencesMoscowRussia

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