Studying the Dynamics of Miniature in-Pipe Vibration Type Robots

Abstract

Actual problem is the study of oscillation acting on functional characteristics of miniature robots based on frequency modulation and changing of pulse recurrence frequency. Such robots are the systems with electromagnetic action, investigation of which is performing in many scientific centers of the world. Study of oscillation processes satisfy the receiving of relationships between functional and frequency characteristics, determine conformity working and required parameters and to extend robot's possibilities. Miniature robots with electromagnetic drive system and technological on board sensors are intended mainly for direct or inverse motion inside of pipes with small diameter (5-20 mm) and analyze of the quality internal surfaces of the pipes, for nondestructive testing and other inspection operations in energy, nuclear power stations for example, in aviation and space technologies. In this paper the motion equations of electromagnetic in-pipe robot are presented, as so as nomographs and characteristics, those may use under design of miniature robots for the purposes of target applications. The results of investigations of oscillatory processes in miniature in-pipe robots of the electromagnetic principle of action are presented. Robots are equipped with coupling devices with internal surfaces of small diameter pipes. Dependences of the robot's parameters on the frequency, length and duration of the control pulses are given. The oscillations effects for a different frequency on the characteristics of the robot with the possibility of reversible motion when moving in media of different viscosities are analyzed.