Abstract
The paper presents the external pipe locomotion of a robot for inspection and monitoring of the pipelines for use in oil and gas industry. During regular motion, the robot resembles to a crank-slider mechanism with equal lengths of the crank and rod, while for stepping over flanges it becomes an open chain with double actuated leverage. A bond graph model and simulation results by use of 20-sim environment are also presented.
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CITATION STYLE
Nițu, C., Grămescu, B., Hashim, A. S., & Avram, M. (2019). Inchworm locomotion of an external pipe inspection and monitoring robot. In Lecture Notes in Electrical Engineering (Vol. 505, pp. 464–470). Springer Verlag. https://doi.org/10.1007/978-3-319-91334-6_63
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