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Wang, Z., “A Bristled-Based Pipeline Robot for I11-Constraint Pipes”, IEEE / ASME Transaction on Mechatronics, Vol. 13, No. 3, June 2008.

has been cited by the following article:

Article

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

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


Journal of Automation and Control. 2013, Vol. 1 No. 1, 21-25
DOI: 10.12691/automation-1-1-4
Copyright © 2013 Science and Education Publishing

Cite this paper:
Ivan Virgala, Alexander Gmiterko, 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.

Correspondence to: Ivan  Virgala, Department of Applied Mechanics and Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia. Email: ivan.virgala@tuke.sk

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 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.

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