Simulation and experimental investigation of kinematic characteristics of the wheeled in-pipe robot actuated by the unbalanced rotor

Mobile robotic systems are currently of significant interest due to the wide range possible applications. Among a great variety mobile robots, specific attention is paid wheeled ones. The main purpose this research consists in substantiating possibilities improving vibration-driven robot equipped with unidirectionally rotating wheels. methodology present study contains development robot’s 3D-model SolidWorks software, constructing simplified dynamic diagram oscillatory system, and developing its simulation model MapleSim software. results obtained by numerical solving motion equations simulating locomotion conditions conducting experiments. kinematic characteristics under different operational conditions. major scientific novelty paper improved design driven centrifugal (inertial) vibration exciter peculiarities. can be effectively used while creating production prototypes systems, particularly those for cleaning pipelines monitoring (inspecting) their inner surfaces, welds, joints, couplings, etc.