Abstract
The pipe-crawling robot is an eight-legged walking machine that moves inside pipe-lines and can be used for inspection, maintenance, and repair. Optimization of structural parameters and possible gaits of the robot is discussed. The results obtained by computer simulation show a considerable sensitivity of operation characteristics of the robot with respect to its geometrical and kinematical parameters.
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© 1996 Kluwer Academic Publishers
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Pfeiffer, F., Rossmann, T., Chernousko, F.L., Bolotnik, N.N. (1996). Optimization of Structural Parameters and Gaits of a Pipe-Crawling Robot. In: Bestle, D., Schiehlen, W. (eds) IUTAM Symposium on Optimization of Mechanical Systems. Solid Mechanics and its Applications, vol 43. Springer, Dordrecht. https://doi.org/10.1007/978-94-009-0153-7_29
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DOI: https://doi.org/10.1007/978-94-009-0153-7_29
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-6555-9
Online ISBN: 978-94-009-0153-7
eBook Packages: Springer Book Archive