Abstract
In this paper, a robot for inpipe inspection of underground urban gas pipeline is presented. The robot is developed for visual and Non-Destructive Testing of the pipeline networks. The dynamic model of an inpipe robot with a self – exciting vibratory drive is presented and the equations of its movement were derived
About this article
Received
07 August 2008
Accepted
11 September 2008
Published
30 September 2008
Keywords
inpipe robot
dynamics
self-exciting vibration
feeder
numerical method
Copyright © 2008 Vibroengineering
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