SPY BRISTLE BOT - A VIBRATION-DRIVEN ROBOT FOR THE INSPECTION OF PIPELINES

摘要

In this paper, a bristle bot for spying and inspection purposes is presented.It consists of the main body with integrated power supply, vibration motor and inspection technology.It is surrounded by a cylindrical chassis with evenly distributed bristles.The robot is designed for pipelines and tubes with a diameter of 25 mm, but the chassis can be exchanged to adapt the robot for different pipeline sizes.Furthermore a mechanical model of a bristle robot is studied numerically.The locomotion velocity is obtained for different parameter combinations and resistance forces.