@article{automation2013114,
author={{Virgala, Ivan and Gmiterko, Alexander and Kelemen, Michal},
title={Motion Analysis of In-pipe Robot Based on SMA Spring Actuator},
journal={Journal of Automation and Control},
volume={1},
number={1},
pages={21--25},
year={2013},
url={http://pubs.sciepub.com/automation/1/1/4},
abstract={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 NewtonĦäs 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 ¨C steel spring actuator are discussed.},
doi={10.12691/automation-1-1-4}
publisher={Science and Education Publishing}
}