Acta Mechanica Slovaca 2010, 14(2):66-71

In-pipe Minimachine and Principles of its Motion and Control

Vladimír Ivančo1, Miroslav Dovica2*, Michal Gorzás3
1 Faculty of Mechanical Engineering, Technical University in Kosice
2 Department of Biomedical Engineering, Automation and Metrology, Faculty of Mechanical Engineering, Technical University in Košice
3 Department of Safety and Quality, Faculty of Mechanical Engineering, Technical University in Košice

The paper deals with the minimachine designed to move within the pipes with inner diameter less than 25 mm. The minimachine consists of two modules connected by a link of variable length enabling to change their mutual distance. Motion is based on inchworm principle known from biology. In motion sequence one of the modules is anchored to the inner surface of the pipe, while the second is released and moved forward by change of the link length. The principle of the link length change consists in transformation of the actuator rotary movement to the linear motion. Problem of anchoring the modules by flexible metal bristles is analyzed in the paper.

Keywords: minimachine, in-pipe movement, bristle, adhesive force, control

Published: October 31, 2010  Show citation

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Ivančo, V., Dovica, M., & Gorzás, M. (2010). In-pipe Minimachine and Principles of its Motion and Control. Acta Mechanica Slovaca, 14(2), 66-71
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