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