кривошипно-повзунний механізм

Problem statement. The structural integrity of extensive pipeline networks is critical for economic and environmental safety, demanding reliable inspection methods. Mobile In-Pipe Inspection Robots (IPIRs) offer a non- disruptive solution; however, the design of their propulsion systems for confined and complex environments remains challenging. Existing analytical frameworks often exhibit a disconnect between kinematic modeling (motion planning) and force analysis (stability and traction), particularly for advanced hybrid locomotion strategies.

The prospects of usage of walking drives in mobile robotic systems are overviewed. The structure of crank-and-slider mechanism was synthesized on order to ensure the prescribed motion path of the supporting foot. The problems of kinematics of crank-and-slider mechanism are considered and the equations of the supporting foot motion are deduced. The geometrical parameters of the walking mechanism are determined taking into account the advanced values of step length and foot raising hight.