TY - JOUR N2 - 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. L1 - http://journals.pan.pl/Content/85044/PDF/07_paper.pdf L2 - http://journals.pan.pl/Content/85044 PY - 2015 IS - No 3 EP - 407 DO - 10.1515/meceng-2015-0023 KW - pipe inspection robot KW - tracked in-pipe inspection mobile robot KW - virtual prototyping KW - mathematical model KW - simulation KW - laboratory tests KW - energy consumption A1 - Ciszewski, Michał A1 - Wacławski, Michał A1 - Buratowski, Tomasz A1 - Giergiel, Mariusz A1 - Kurc, Krzysztof PB - Polish Academy of Sciences, Committee on Machine Building VL - vol. 62 DA - 18.11.2015 T1 - Design, modelling and laboratory testing of a pipe inspection robot SP - 395 UR - http://journals.pan.pl/dlibra/publication/edition/85044 T2 - Archive of Mechanical Engineering ER -