scholarly journals Investigation of Snake Robot Locomotion Possibilities in a Pipe

Symmetry ◽  
2020 ◽  
Vol 12 (6) ◽  
pp. 939 ◽  
Author(s):  
Ivan Virgala ◽  
Michal Kelemen ◽  
Pavol Božek ◽  
Zdenko Bobovský ◽  
Martin Hagara ◽  
...  

This paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe or channel. We developed a unique experimental snake robot with one revolute and one linear joint on each module, with the ability to perform planar motion. The designed locomotion pattern was simulated in MATLAB R2015b and subsequently verified by the experimental snake robot. The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces. The paper further describes the investigation of locomotion stability by three symmetrical curves used to anchor static modules between the walls of the pipe. The stability was experimentally analyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system. The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion. The results of simulations and experiments show possibilities of snake robot locomotion in a pipe.

2014 ◽  
Vol 611 ◽  
pp. 496-500 ◽  
Author(s):  
Róbert Huňady ◽  
Martin Hagara ◽  
František Šimčák

The paper deals with measurements of modal parameters using high-speed digital image correlation and assesses how the size of image elements (facets) influences the accuracy of modal parameters of the analyzed structure. The facet size is an important parameter that significantly affects the correlation process and its results. In the paper the experimental modal analysis of steel circular plate that has been excited by the impact hammer is described. Correlation system Q-450 Dantec Dynamics was used to measure the responses of the analyzed structure.


2015 ◽  
Vol 816 ◽  
pp. 397-403 ◽  
Author(s):  
Martin Hagara ◽  
Róbert Huňady

The paper describes an experimental determination of kinematic quantities using high-speed digital image correlation system. It deals with the analysis of minimal sampling frequency needed for correctly performed high-speed correlation analysis. The authors also describe the influence of cameras sampling frequency on the quality of the obtained results. Mentioned analysis was performed using a rotational object. For the purposes of the results comparison the data obtained from correlation system in a form of displacements in three mutually perpendicular directions were processed in Matlab and in the paper are depicted in a form of graphical visualizations.


2009 ◽  
Vol 34 (13) ◽  
pp. 1955 ◽  
Author(s):  
Min Wang ◽  
Hao Wang ◽  
Yuwan Cen

2020 ◽  
Author(s):  
Jeremy James ◽  
Elizabeth M. Jones ◽  
Enrico C. Quintana ◽  
Kyle P. Lynch ◽  
Benjamin R. Halls ◽  
...  

2018 ◽  
Vol 196 ◽  
pp. 01032 ◽  
Author(s):  
Andrzej Piotrowski ◽  
Marcin Gajewski ◽  
Cezary Ajdukiewicz

In the presented paper the local instabilities occurring in compression test of perforated thin-walled bars of low slenderness are observed using digital image correlation system ARAMIS. The tested samples slenderness is so low, that from theoretical point of view we are dealing with compression tests of some perforated shells. The samples are made from typical low carbon steel, which has to be treated as elasto-plastic material. Because of that, the final geometry of the sample (after unloading) is also analysed giving a good data for calibration of the theory of elasto-plasticity for large deformations. In analysed cases the total strain values are not exceptionally large, while local rotation (and permanent deformations) have significant values.


2017 ◽  
Author(s):  
Chiharu Sekiguchi ◽  
Tomoyuki Hakoyama ◽  
Toshihiko Kuwabara ◽  
Hiroshi Fukiharu

2011 ◽  
Vol 70 ◽  
pp. 135-140 ◽  
Author(s):  
G. Le Louëdec ◽  
M.A. Sutton ◽  
Fabrice Pierron

Welding is one of the most popular joining technologies in industry. Depending on the materials to be joined, the geometry of the parts and the number of parts to be joined, there is a wide variety of methods that can be used. These joining techniques share a common feature: the material in the weld zone experiences different thermo-mechanical history, resulting in significant variations in material microstructure and spatial heterogeneity in mechanical properties. To optimize the joining process, or to refine the design of welded structures, it is necessary to identify the local mechanical properties within the different regions of the weld. The development of full-field kinematic measurements (digital image correlation, speckle interferometry, etc.) helps to shed a new light on this problem. The large amount of experimental information attained with these methods makes it possible to visualize the spatial distribution of strain on the specimen surface. Full-field kinematic measurements provide more information regarding the spatial variations in material behaviour. As a consequence, it is now possible to quantify the spatial variations in mechanical properties within the weld region through a properly constructed inverse analysis procedure. High speed tensile tests have been performed on FSW aluminium welds. The test was performed on an MTS machine at a cross-head speed of up to 76 mm/s. Displacement fields were measured across the specimen by coupling digital image correlation with a high-speed camera (Phantom V7.1) taking 1000 frames per second. Then, through the use of the virtual fields method it is possible to retrieve the mechanical parameters of the different areas of the weld from the strain field and the loading. The elastic parameters (Young’s modulus and Poisson’s ratio) are supposed to be constant through the weld. Their identification was carried out using the virtual fields method in elasticity using the data of the early stage of the experiment. Assuming that the mechanical properties (elastic and plastic) of the weld are constant through the thickness, the plastic parameters were identified on small sections through the specimen, using a simple linear hardening model. This method leads to a discrete identification of the evolution of the mechanical properties through the weld. It allows the understanding of the slight variations of yield stress and hardening due to the complexity of the welding process.


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