Szczegóły publikacji
Opis bibliograficzny
Track drives adjustment simulation for a versatile pipe inspection robot / Michał CISZEWSKI, Tomasz BURATOWSKI, Mariusz GIERGIEL // W: Advances in mechanism and machine science : proceedings of the 15th IFToMM World Congress on Mechanism and Machine science : [June 30–July 4, 2019, Krakow, Poland] / ed. Tadeusz Uhl. — Cham : Springer Nature Switzerland, cop. 2019. — (Mechanisms and Machine Science ; ISSN 2211-0984 ; Vol. 73). — ISBN: 978-3-030-20130-2; e-ISBN: 978-3-030-20131-9. — S. 1989–1996. — Bibliogr. s. 1996, Abstr.
Autorzy (3)
Słowa kluczowe
Dane bibliometryczne
| ID BaDAP | 122860 |
|---|---|
| Data dodania do BaDAP | 2019-07-18 |
| DOI | 10.1007/978-3-030-20131-9_197 |
| Rok publikacji | 2019 |
| Typ publikacji | materiały konferencyjne (aut.) |
| Otwarty dostęp |  |
| Wydawca | Springer |
| Czasopismo/seria | Mechanisms and Machine Science |
Abstract
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.
