Abstract
Urgency of the research. Inspection tasks are frequently and very important from the view of safety. From this reason the topic is very actual. Target setting. The aim of the study is to investigate new kind of pipe mechanism based on differential frictions of bristles. Actual scientific researches and issues analysis. There are many mechanisms for inspection of narrow or hard-to-reach areas. Many of them are based on wheels or tank belt. This research investigates bristle-based pipe mechanism. Uninvestigated parts of general matters defining. Nowadays, the SMA materials or different kind of memory materials are always in the focus of researchers. The research objective is to develop and experimental test the new kind of mechanism based on SMA as well as steel spring mechanism. The statement of basic materials. The locomotion divided into two phases is introduced. Based on this locomotion the mathematical model was derived. Assuming mathematical model was developed control system for experimental pipe mechanism. Conclusions. The results of the experiments shows problems with cooling phase due to its long time consumption. For cooling was used external device. The cooling phase significantly decrease average velocity of pipe mechanism. The advantage of this kind of mechanism is simple control and utilization for the pipe with small diameters.
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