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- Title
LOCOMOTION MECHANISM FOR PIPE INSPECTION TASKS.
- Authors
VIRGALA, IVAN; FRANKOVSKÝ, PETER
- Abstract
The pipe mechanisms play significant role for applications like inspections, wearing of cables, materials and other devices. The paper deals with motion analysis of pipe mechanism with shape memory effect actuator. At first, the principle of motion and design solution of experimental pipe mechanism is introduced. Then the mathematical model is established by means of Newton's mechanics. The mechanism (robot) can be used for pipes with circular section with diameters 10 - 15 mm. For real behavior determination the experiments with robot were done. Then the experiments were compared with mathematical model. In the conclusion the advantages and disadvantages of pipe robot using SMA spring - steel spring actuator are discussed
- Subjects
PIPELINE inspection; MOTION analysis; MECHANICS (Physics); MATHEMATICAL models; FRICTION; HEAT exchangers
- Publication
Ad Alta: Journal of Interdisciplinary Research, 2013, Vol 3, Issue 2, p84
- ISSN
1804-7890
- Publication type
Article