DESIGN OF AN INSPECTION ROBOT BASED ON THE PANTOGRAPH MECHANISM

Călin RUSU, Mihai Olimpiu TĂTAR

Abstract


To move inside pipelines inspection robots must be able to adapt to geometric changes of pipes. This paper presents the design of a simple pipe inspection robot whose structure is based on a pantograph mechanism. Thus, at the beginning of the paper is presented a short classification of robots in the pipeline, followed by the determination of the expressions of reaction forces and traction force. In the last part, the proposed inspection robot is described.

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References


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