Acta Mechanica Slovaca 2010, 14(4):102-109 | DOI: 10.2478/v10147-011-0040-x

Adaptable Mechatronic Locomotion System

Alexander Gmiterko1, Michal Kelemen2, Tatiana Kelemenová2, Ľubica Miková2
1 Slovak Technical University of Bratislava, Slovakia
2 Technical University of Košice, Slovakia

Wheeled in-pipe locomotion is very favourite principle of locomotion used inside pipe. However, there are several problems in these systems like slipping or deadlocking on inner pipe wall. The construction of the system provides adaptation of the wheels position i.e. adaptation of the normal force of the wheels against to the inner pipe wall. This property is important, because of geometric deviations on inner pipe wall. Information about the actual normal force of wheels against the inner pipe wall is used for regulation of their value. When normal force is too small then slipping occurs, but if normal force is too large then deadlocking occurs. A designed system is able to adapt to pipe with inner diameter in range of 100mm to 200mm.

Keywords: Mechatronics, Locomotion, Actuator, Adaptable

Published: October 31, 2010  Show citation

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Gmiterko, A., Kelemen, M., Kelemenová, T., & Miková, Ľ. (2010). Adaptable Mechatronic Locomotion System. Acta Mechanica Slovaca, 14(4), 102-109. doi: 10.2478/v10147-011-0040-x
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