Abstract
The paper presents the dynamic analysis of a robot locomotion along the external oil and gas pipelines, for the purpose of their inspection and monitoring. The work is focused on both regular crawling motion and obstacles avoiding. During regular motion, the robot resembles to a crank-slider mechanism with equal lengths of the crank and rod, while for stepping over obstacles it becomes an open chain with double actuated leverage. For each of both motions, there were built models in 20-sim environment, for which the simulation results are presented.
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Grămescu, B., Cartal, A., Hashim, A.S., Nițu, C. (2022). Dynamic Analysis of a Robot Locomotion for an External Pipe Inspection and Monitoring. In: Machado, J., Soares, F., Trojanowska, J., Yildirim, S. (eds) Innovations in Mechatronics Engineering. icieng 2021. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-79168-1_18
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DOI: https://doi.org/10.1007/978-3-030-79168-1_18
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