Improved calculation of viscous friction in the model of a pipe robot

Abstract

Pipe robots are used in agricultural engineering for transportation of materials. Also, they are used for cleaning of internal surfaces of the pipes. In the process of numerical investigation of dynamics of a pipe robot, a specific model for viscous friction is used. This influences the results of numerical calculations of dynamics of a pipe robot. A numerical procedure for more precise calculation of viscous friction is proposed in the paper. Results of investigations for two values of time steps are obtained: without the proposed procedure and with it. Advantages of the improved calculation of viscous friction are indicated.