2_2025_sen_4

Title of the article EVALUATION OF THE ENERGY BALANCE COMPONENTS OF A MOBILE ROBOTIC MODULE FOR IN-PIPE DIAGNOSTICS ON A WHEELED CHASSIS
Authors

DOBRETSOV Roman Yu., D. Sc. in Eng., Assoc. Prof., Leading Engineer, Russian State Scientific Center for Robotics and Technical Cybernetics, Saint Petersburg, Russian Federation; Professor, Peter the Great St. Petersburg Polytechnic University, Saint Petersburg, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.

POPOV Dmitrii S., Ph. D. in Eng., Deputy Chief Designer, Russian State Scientific Center for Robotics and Technical Cybernetics, Saint Petersburg, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.

SMIRNOV Yaroslav N., Graduate Student, Peter the Great St. Petersburg Polytechnic University, Saint Petersburg, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.

VOLKOV Vladislav A., Designer, Russian State Scientific Center for Robotics and Technical Cybernetics, Saint Petersburg, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.
In the section MECHANICAL ENGINEERING COMPONENTS
Year 2025
Issue 2(71)
Pages 29–35
Type of article RAR
Index UDK 629.3.023.1:007.52
DOI https://doi.org/10.46864/1995-0470-2025-2-71-29-35
Abstract The paper considers the principles of constructing an energy balance equation for a mobile robotic articulated wheeled chassis with an electromechanical drive of the transport system. The chassis is designed to accommodate in-pipe diagnostics equipment or other process equipment. The approach is based on the analysis of the machine operating conditions and the chassis design features. The article proposes calculation dependencies for the operational forecasting of energy costs for chassis movement along a pipeline with specified characteristics. The dependencies are obtained based on the methods and approaches of the theory of wheeled and tracked vehicles motion, taking into account the design features of the robot transport system, wheel loading scheme, and track characteristics. An example of calculation for a pipeline of a given configuration is given. Organizational and technical solutions are proposed aimed at improving the safety of operation of the mobile chassis in question as part of a robotic using the principles of duplication and redundancy of systems responsible for movement, and the introduction of a mobile reconnaissance module into the complex for the operational construction of a profile of the pipeline under study in the absence of reliable information about its configuration and actual parameters. Bibliographic references to sources are provided that make it possible to obtain a detailed understanding of the current state of the issue of technical support for in-pipe diagnostics.
Keywords mobile robot, transport system, support reactions, wheel rolling, in-pipe diagnostics
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