摘要：The paper deals with a mobile miniature mechanism which was moved inside glass pipe. The mobile miniature mechanism consists of driving and driven body, which is moved by magnetic force. In the theoretical analysis of miniature mechanism movement its mean velocity on the base of two elastic masses impact model is examined. In experimental part dependencies of attractive force and repulsive force on distance are examined.
关键词：mobile robot; In Pipe Mechanism; Analysis of Movement; impact
