Track Drives Adjustment Simulation for a Versatile Pipe Inspection Robot

Abstract

Increasing demand for versatile devices intended for pipe inspection induces fast development of advanced mechanisms and multi-purpose structures of robot drive units. The paper shows modeling of a track adaptation mechanism designed for a pipe inspection robot that provides motion in horizontal and vertical pipes of circular and rectangular cross-section. The mechanism is based on an original pedipulator structure that adjust poses of two track drive modules. In the paper, adaptation of the drive unit to changing pipe diameters is analyzed and illustrated. Validation of the model is shown during tests of a prototype.