Kinematics of underwater inspection robot

摘要: The article presents the issues associated with modeling and numerical verification of a kinematics inspection robot for diagnostic maintenance tanks liquid. has been constructed at Department Robotics Mechatronics AGH in frames grant financed by NCBiR. analysis kinematic was drawn using available described literature mathematical methods, as well based on existing robots designs. Structural solutions applied enable to control two crawler tracks, module cleaning bottom tank module. Verification model up carried out use engineering methods development software MATLAB. Received results were presented equations simulations illustrated form characteristics depicting parameters robot’s motion. work also directions further research robot.