Abstract
Pipe robots are used in agricultural engineering for transportation of various materials inside the pipe as well as for cleaning of internal surfaces of the pipes.
 In this paper a model of a pipe robot with self-stopping mechanism is proposed and described in detail. Numerical investigations are performed, and the obtained results are presented in the form of graphical relationships. Variations of displacements as well as variations of velocities of the exciting mass and of the case of the pipe robot as functions of time are investigated. Results for steady state regime of motion are presented.
 Displacement of the first degree of freedom, velocity of the first degree of freedom, displacement of the second degree of freedom, velocity of the second degree of freedom as functions of time in the steady state regime of motion are investigated. Also, difference of displacements as well as difference of velocities as functions of time in the steady state regime of motion are represented.
 Results for three typical values of the constant force are described in the paper: first the results when the constant force is assumed equal to zero are presented and then the results for the two typical nonzero values of the constant force are presented. From the obtained graphical representations, the influence of the value of the constant force to the dynamic behavior of the pipe robot can be seen.
 The obtained graphical representations enable to understand the behavior of the investigated pipe robot with self-stopping mechanism.
 Keywords: pipe robot, self-stopping mechanism, harmonic excitation, steady state motions, parameters of the system.
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