Mathematical model to analyze the geometric limitations of mechatronic devices moving in curved pipe sections

Abstract

This article presents a method enabling the determination of the minimum radius of pipe bending in which it is possible to move freely a cylinder with defined dimensions. A respective mathematical model has been presented. The below-described method can be useful in the future, while designing mechatronic tools for working in lateral bores starting from a vertical bore, and also while designing inspection robots moving in pipes and pipelines.