Modeling and Optimization of the Tube-Crawling Robot
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.
KeywordsTransfer Phase Control Torque Support Phase Revolute Joint Pipe Surface
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