Elastic in tube propelling device (innovative design)

A novel mechanical device that is able to crawl inside tubes was designed and built. The device, which consists of at least one pair of right and left wound spring elements (twisted into a double helical structure) and an electric motor, propels itself in worm-like or snake-like fashion when actuated along a tube. A brief explanation of how the device is designed and assembled is given, as is a short description of its kinematics. The speed vectors and their application points and radii are also given, together with an analysis of the participation of the speed vectors and the sliding and rolling friction generated between the springs and the tube's inner surface. The paper also covers the device's possible nonlinear dynamic behavior when it moves inside a tube and provides some quantitative calculations, which take into account the effects of randomization in the considered phenomenon, even for cases of simple movement. With further development work, the model may be easily adapted to a variety of industrial and engineering applications.