P. Małka

The Project of Tank Inspection Robot

The paper presents the project of tank inspection robot. In order to discuss the designing process, algorithm of design has been provided. There are four design stages: the analysis of the construction problem, the synthesis, testing/improving robots construction and finally testing it. First stage of project process is divided into constructive and imitative analysis. Constructive analysis means searching for still not existing solutions of robots and detection methods. In this paper we concentrate only on constructive analysis.

Mobile Inspection Robot

In this paper, the design of a tracked in-pipe inspection mobile robot with a flexible drive positioning system is presented. The robot would be able to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically with cross section greater than 200 mm. The paper presents a complete design process of a virtual prototype, with usage of CAD/CAE software. Mathematical descriptions of the robot kinematics and dynamics that aim on development of a control system are presented. Laboratory tests of the utilized tracks are included. Performed tests proved conformity of the design with stated requirements, therefore a prototype will be manufactured basing on the project.