期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2014
卷号：11
DOI：10.5772/59499
语种：English
出版社：SAGE Publications
摘要：The in-pipe machine locomotes in the pipe on the principle of differential friction between the bristles and the pipe wall during the movement of the bristle forwards and backwards. These bristles are very important construction parts of the in-pipe machine.. In order to define the locomotion of movement it is important to know the force situation on the bristles caused by its high deformation in the pipe. The determination of force situation brought us to a non-linear differential equation of the second order and determination of conditions for its solution. By this equation it is possible to describe the outline of large deformations of the construction part and to determine the forces affecting this part.
