Snake Robot Movement in the Pipe Using Concertina Locomotion

摘要

Inspection tasks of pipes or channels are part of the engineering practice. In the past there were investigated conventional approaches like wheeled-based mechanisms. This paper deals with unconventional approach - snake robot moving in the pipe. In the paper locomotion pattern of concertina is introduced and subsequently kinematic model of concertina locomotion is established. Main requirements and conditions of presented locomotion pattern are stated. Using software Matlab the kinematic model is simulated according designed locomotion pattern in order to verify the kinematic model. For experimental purposes the experimental snake robot – LocoSnake is used. Simulation and experiment are compared and evaluated.