@ARTICLE{Ciszewski_Michał_Design,_2015, author={Ciszewski, Michał and Wacławski, Michał and Buratowski, Tomasz and Giergiel, Mariusz and Kurc, Krzysztof}, volume={vol. 62}, number={No 3}, pages={395-407}, journal={Archive of Mechanical Engineering}, howpublished={online}, year={2015}, publisher={Polish Academy of Sciences, Committee on Machine Building}, abstract={This paper presents a design of a tracked in-pipe inspection mobile robot with an adaptive drive positioning system. The robot is intended to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically. The paper covers a design process of a virtual prototype, focusing on track adaptation to work environment. A mathematical description of a kinematic model of the robot is presented. Operation of the prototype in pipes with a cross-section greater than 210 mm is described. Laboratory tests that validate the design and enable determination of energy consumption of the robot are presented.}, type={Artykuły / Articles}, title={Design, modelling and laboratory testing of a pipe inspection robot}, URL={http://journals.pan.pl/Content/85044/PDF/07_paper.pdf}, doi={10.1515/meceng-2015-0023}, keywords={pipe inspection robot, tracked in-pipe inspection mobile robot, virtual prototyping, mathematical model, simulation, laboratory tests, energy consumption}, }