Mathematical Model and Simulation of in-pipe Robot1. Introduction

At a time when most professions are undergoing massive automation and transformation there are still quite a few professions that have not changed in the past fifty years. One of those professions is chimney sweeping. This thought led to the initial idea for this paper. In this paper, we have proposed a design of an in-pipe robot that could be used for chimney cleaning and inspection. Mathematical modelling of the movement of the robot and actuators was carried out, which allowed us to study the proposed design. Since the mathematical model is quite abstract, computer simulations were done in order to prove the mathematical model, with the possibility to further parameters adjustment of the robot. After the simulations were concluded, the total distance and total time of one cycle of the actuator were obtained.