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Title of Journal: J Mech Sci Technol

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Abbravation: Journal of Mechanical Science and Technology

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Korean Society of Mechanical Engineers

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DOI

10.1002/ejoc.201290017

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1976-3824

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Inpipe micromachine locomotion via the inertial s

Authors: YoungJin Yum HanSub Hwang Michal Kelemen Vladislav Maxim Peter Frankovský
Publish Date: 2014/08/15
Volume: 28, Issue: 8, Pages: 3237-3247
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Abstract

This paper discusses an inpipe inspection micromachine intended for locomotion inside a small diameter pipe The micromachine locomotion is based on the inertial stepping principle which utilizes the drive force of the twobody impact The inpipe micromachine contacts the pipe through the elastic bristles installed on the inpipe machine and in two lines and crossways with respect to the micromachine axle The paper describes the principle of locomotion and the dynamics by which the unknown of both the parameters and the relations are experimentally identified Based on the results a simulation model was created and the results of the simulations were compared with experimental resultsYoungJin Yum received the MS and PhD degrees in Aeronautical engineering from Korea Advanced Institute of Science and Technology Korea in 1981 and 1989 He is a professor of the School of Mechanical Engineering at the University of Ulsan KoreaHanSub Hwang received the MS degree in Mechanical Engineering from University of Ulsan Korea in 1994 and PhD in Plasticity from Hongik University Korea in 2004 He is an associate professor of Mechanical Engineering at Suwon Science College KoreaMichal Kelemen received his MS degree in Mechanical Engineering from Technical University of Kosice Slovakia in 1998 and PhD in Mechatronics there in 2002 He is an associate professor in the Department of Applied Mechanics and Mechatronics at the Technical University of Kosice SlovakiaVladislav Maxim received his MS degree in Electrical Engineering from Technical University of Kosice Slovakia in 1984 and PhD in Power semiconductor systems 2002 He is an associate professor in the Department of Automation and Control and Communication Interfaces at the Technical University of Kosice SlovakiaPeter Frankovský received the MSc degree in Applied Mechanics from Technical University of Kosice Slovakia in 2006 and PhD in 2010 He is an associate professor of the Department of Applied Mechanics and Mechatronics at Technical University of Kosice Slovakia

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