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Mobile Worm-Like Robots for Pipe Inspection

Mobile Worm-Like Robots for Pipe Inspection

Sergey Fedorovich Jatsun, Andrei Vasilevich Malchikov
Copyright: © 2015 |Pages: 51
ISBN13: 9781466673878|ISBN10: 1466673877|EISBN13: 9781466673885
DOI: 10.4018/978-1-4666-7387-8.ch008
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MLA

Jatsun, Sergey Fedorovich, and Andrei Vasilevich Malchikov. "Mobile Worm-Like Robots for Pipe Inspection." Handbook of Research on Advancements in Robotics and Mechatronics, edited by Maki K. Habib, IGI Global, 2015, pp. 168-218. https://doi.org/10.4018/978-1-4666-7387-8.ch008

APA

Jatsun, S. F. & Malchikov, A. V. (2015). Mobile Worm-Like Robots for Pipe Inspection. In M. Habib (Ed.), Handbook of Research on Advancements in Robotics and Mechatronics (pp. 168-218). IGI Global. https://doi.org/10.4018/978-1-4666-7387-8.ch008

Chicago

Jatsun, Sergey Fedorovich, and Andrei Vasilevich Malchikov. "Mobile Worm-Like Robots for Pipe Inspection." In Handbook of Research on Advancements in Robotics and Mechatronics, edited by Maki K. Habib, 168-218. Hershey, PA: IGI Global, 2015. https://doi.org/10.4018/978-1-4666-7387-8.ch008

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Abstract

This chapter describes various designs of multilink mobile robots intended to move inside the confined space of pipelines. The mathematical model that describes robot dynamics and controlled motion, which allows simulating different regimes of robot motion and determining design parameters of the device and its control system, is presented. The chapter contains the results of numerical simulations for different types of worm-like mobile robots. The experimental studies of the in-pipe robots prototypes and their analyses are presented in this chapter.

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