INVESTIGATION OF DYNAMICS OF A PIPE ROBOT WITH SELF-STOPPING MECHANISM

Pipe robots are used in agricultural engineering for transportation of various materials inside the pipe as well cleaning internal surfaces pipes.
 In this paper a model robot with self-stopping mechanism is proposed and described detail. Numerical investigations performed, obtained results presented form graphical relationships. Variations displacements variations velocities exciting mass case functions time investigated. Results steady state regime motion presented.
 Displacement first degree freedom, velocity displacement second freedom Also, difference represented.
 three typical values constant force paper: when assumed equal to zero then two nonzero presented. From representations, influence value dynamic behavior can be seen.
 The representations enable understand investigated mechanism.
 Keywords: robot, mechanism, harmonic excitation, motions, parameters system.