Appleton, E.; Stutchbury, N.W. - In: Industrial Robot: An International Journal 27 (2000) 5, pp. 370-377
This paper describes a novel drive mechanism for a robotic tractor for traversing pipelines, including sewers, in a poor condition. Traction is obtained by the reciprocating motion of two cylindrical brushes of a diameter larger than the pipe bore. The brushes move forwards down the pipe but...