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Optimization of Structural Parameters and Gaits of a Pipe-Crawling Robot

  • F. Pfeiffer
  • T. Rossmann
  • F. L. Chernousko
  • N. N. Bolotnik
Part of the Solid Mechanics and its Applications book series (SMIA, volume 43)

Abstract

The pipe-crawling robot is an eight-legged walking machine that moves inside pipe-lines 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

Support Phase Revolute Joint Pipe Surface Robot Body Pipe Axis 
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

© Kluwer Academic Publishers 1996

Authors and Affiliations

  • F. Pfeiffer
    • 1
  • T. Rossmann
    • 1
  • F. L. Chernousko
    • 2
  • N. N. Bolotnik
    • 2
  1. 1.Institute B of Mechanics of Munich Technical UniversityMunichGermany
  2. 2.Institute for Problems in Mechanics of Russian Academy of SciencesMoscowRussia

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