Journal of Automation and Control
ISSN (Print): 2372-3033 ISSN (Online): 2372-3041 Website: Editor-in-chief: Santosh Nanda
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Journal of Automation and Control. 2013, 1(1), 21-25
DOI: 10.12691/automation-1-1-4
Open AccessArticle

Motion Analysis of In-pipe Robot Based on SMA Spring Actuator

Ivan Virgala1, , Alexander Gmiterko1 and Michal Kelemen1

1Department of Applied Mechanics and Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia

Pub. Date: December 11, 2013

Cite this paper:
Ivan Virgala, Alexander Gmiterko and Michal Kelemen. Motion Analysis of In-pipe Robot Based on SMA Spring Actuator. Journal of Automation and Control. 2013; 1(1):21-25. doi: 10.12691/automation-1-1-4


The in-pipe robots play significant role for applications like inspection of pipes or wearing of cables and materials, etc. The paper deals with motion analysis of in-pipe robot, whose actuator is based on shape memory effect. At first, the principle of motion and design solution of experimental in-pipe robot is introduced. Then the mathematical model is establish by means of Newton´s mechanics. The robot using Baasic AtomPro 28-M is controlled in order to obtain autonomous of motion in the pipe. The robot can be used for pipes with circular section with diameters 10-15 mm. For real behavior determination the experiments was done and compared with mathematical model. In the conclusion the advantages and disadvantages of in-pipe robot using SMA spring – steel spring actuator are discussed.

friction pipe SMA spring

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