Abstract
The bristled pipe robot moving in the pipe on the principle of friction difference is intended for locomotion in the pipe using the friction difference between the bristles and the pipe's inner wall. The robot consists of an electromagnetic linear actuator, on the frame of which the rear bristle block is attached and on its extension rod, the front bristle block is placed. The bristle blocks contain three bristle carriers and clamps. The bristles are the contact elements between the robot and the pipe's inner wall. The geometry of the bristles can be adjusted using the adjusting elements. The bristles are mounted on the robot so that the span of their free ends is greater than the inner diameter of the pipe, thus creating the desired normal and frictional force between the pipe wall and the bristle ends. The bristles are mounted at a mounting angle concerning the robot axis, thus creating a difference in friction between the pipe wall and the bristles as they move back and forth, resulting in a forward movement of the robot.
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