Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion

The in-pipe robots are currently of significant interest, considering numerous recent publications on this subject. Such machines can use various locomotion principles: wheeled, tracked (caterpillar), walking (legged), screw-type, worm-type, snake-type, etc. In most cases, such equipped with an active drive system transmitting the torque from a motor shaft to corresponding mechanism (wheels, tracks, etc.). present paper is devoted wheeled robot that doesn’t need complex transmission. case, idea implementing vibratory driven by internal unbalanced mass proposed. kinematic diagram vibration-driven developed, and differential equations describing motion deduced. order carry out virtual experimental investigations, robot’s simulation model designed in SolidWorks software. major scientific novelty research consists developing theoretical foundation for designing practical implementation inertial vibration exciters unidirectionally rotating wheels overrunning clutches. results numerical modeling computer substantiate possibilities expediency proposed principles while creating novel designs robots.