Optimization of Structural Parameters and Gaits of a Pipe-Crawling Robot
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.
KeywordsSupport Phase Revolute Joint Pipe Surface Robot Body Pipe Axis
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