Experimental verification of the in-pipe micromachine Karolína simulation model

Michal Kelemen, Tatiana Maťašovská


The paper deals with in-pipe micromachine Karolina, which locomotes inside pipe via innertial locomotion principle. The principle lies on periodic generating of two masses crash. Next part describes simulation model, which is designed for study of the micromachine behaviours. Simulation models gives the optimum setting up paranmeters and these parameters have been verified via experimetal way. The micromachine velocoty locomotion and its traction force have been obtained via experimental way and these results in coincidence with simulation results.


in-pipe machine, inspection, locomotion, pipes,

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ISSN 1801-1217 (Print)
ISSN 1805-9422 (Online)
Published by the Czech Technical University in Prague, Faculty of Mechanical Engineering