RT Journal Article
SR Electronic
A1 Gmiterko, Alexander
A1 Kelemen, Michal
A1 Kelemenová, Tatiana
A1 Miková, Ľubica
T1 Adaptable Mechatronic Locomotion System
JF Acta Mechanica Slovaca
YR 2010
VO 14
IS 4
SP 102
OP 109
DO 10.2478/v10147-011-0040-x
UL https://www.actamechanica.sk/artkey/ams-201004-0012.php
AB 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.