In this paper, a robot for inpipe inspection of underground urban gas pipeline is presented. The robot is developed for visual and Non-Destructive Testing of the pipeline networks. The dynamic model of an inpipe robot with a self – exciting vibratory drive is presented and the equations of its movement were derived
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07 August 2008
11 September 2008
30 September 2008
Copyright © 2008 Vibroengineering
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