Investigation of dynamics of the pipe robot with vibration drive based on centrifugal forces

摘要

Vibration drive based on centrifugal forces can be used as an exciter of vibrations in the structure of a pipe robot. In this paper, a pipe robot with vibration drive based on centrifugal forces is proposed and investigated. A dynamic model of the pipe robot is presented, and differential equations of motion are obtained. Model in which excitation is assumed to be of unlimited power is described and investigated as well. Typical graphical relationships for the investigated pipe robot with vibration drive based on centrifugal forces are obtained and presented. It is determined that the obtained results reproduce the main dynamic effects taking place during the motion of a pipe robot with vibration drive based on centrifugal forces.