In the article the classification of pipe crawling robots with vibratory drives is presented, their advantages and imperfections are reviewed. The schemes of the construction of a pipe crawling robot with a vibratory impulse drive and a pipe crawling robot with a vibratory pneumatic drive are discussed. The dynamic models of a robot with a vibratory impulse drive and of a robot with a vibratory pneumatic drive were developed and the equations of their movement were formed and written.
Mištinas, V., & Spruogis, B. (2002). Development of pipe crawling robots with vibratory drives and investigation of their kinematic parameters. Transport, 17(5), 171-176. https://doi.org/10.3846/16483840.2002.10414038
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