Publications / 2008 Proceedings of the 25th ISARC, Vilnius, Lituania
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 and its feed compressor with feed pipe is presented and the equations of its movement were derived.