Track Drives Adjustment Simulation for a Versatile Pipe Inspection Robot

  • Michał CiszewskiEmail author
  • Tomasz Buratowski
  • Mariusz Giergiel
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


Increasing demand for versatile devices intended for pipe inspection induces fast development of advanced mechanisms and multi-purpose structures of robot drive units. The paper shows modeling of a track adaptation mechanism designed for a pipe inspection robot that provides motion in horizontal and vertical pipes of circular and rectangular cross-section. The mechanism is based on an original pedipulator structure that adjust poses of two track drive modules. In the paper, adaptation of the drive unit to changing pipe diameters is analyzed and illustrated. Validation of the model is shown during tests of a prototype.


Modeling Pipe inspection Track drive Robotic inspection Adaptive inspection robot 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.AGH University of Science and TechnologyKrakówPoland

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