This paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe or channel. We developed a unique experimental snake robot with one revolute and one linear joint on each module, with the ability to perform planar motion. The designed locomotion pattern was simulated in MATLAB R2015b and subsequently verified by the experimental snake robot. The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces. The paper further describes the investigation of locomotion stability by three symmetrical curves used to anchor static modules between the walls of the pipe. The stability was experimentally analyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system. The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion. The results of simulations and experiments show possibilities of snake robot locomotion in a pipe.

The article aims to prove the hypothesis, that an approach direction influences repeatability at target point of a trajectory. Unlike most researches that deal with absolute accuracy, this paper is focused on determining the achievable repeatability and the influence of the direction of approach on it. To prove the hypothesis, several measurements are performed under different conditions, on industrial robot ABB IRB1200. To verify and confirm the result obtained from the resolvers located on the individual axes of the robot, the measurements are replicated using high-speed digital image correlation cameras. Using an external measuring device, the real repeatability of the robot endpoint is determined. The measurement proved the correctness of the hypothesis, i.e., the dependence of the approach direction on repeatability was proved. Furthermore, real deviations were measured and the extent of this influence on the robot repeatability was determined.

This paper presents an approach to compensate for the effect of thermal expansion on the structure of an industrial robot and thus to reduce the repeatability difference of the robot in cold and warm conditions. In contrast to previous research in this area that deals with absolute accuracy, this article is focused on determining achievable repeatability. To unify and to increase the robot repeatability, the measurements with highly accurate sensors were performed under different conditions on an industrial robot ABB IRB1200, which was equipped with thermal sensors, mounted on a pre-defined position around joints. The performed measurements allowed to implement a temperature-based prediction model of the end effector positioning error. Subsequent tests have shown that the implemented model used for the error compensation proved to be highly effective. Using the methodology presented in this article, the impact of drift can be reduced by up to 89.9%. A robot upgraded with a compensation principle described in this article does not have to be warmed up as it works with the same low repeatability error in the entire range of the achievable temperatures.

This paper presents a uniquely designed device combining the hole-drilling technique with two optical systems based on the PhotoStress and digital image correlation (DIC) method, where the digital image correlation system moves with the cutting tool. The authors aimed to verify whether the accuracy of the drilled hole according to ASTM E837-13a standard and the positioning accuracy of the device were sufficient to achieve accurate results. The experimental testing was performed on a thin specimen made from strain sensitive coating PS-1D, which allowed comparison of the results obtained by both methods. Although application of the PhotoStress method allows analysis of the strains at the edge of the cut hole, it requires a lot of experimenter’s practical skills to assess the results correctly. On the other hand, the DIC method allows digital processing of the measured data. However, the problem is not only to determine the data at the edge of the hole, the results also significantly depend on the smoothing levels used. The quantitative comparison of the results obtained was performed using finite element analysis.

Experimental measurement methods used in operational mode provide valuable information about the behavior of mechanical parts of equipment that cannot be determined in advance by analytical calculations or numerical modeling. The strain gauge method, which is often used to investigate the stresses in the load-bearing members of steel structures under operational conditions, was used. The advantage is the fast and accurate acquisition of stress values at critical locations selected based on analytical computations or numerical modeling. In the present paper, the residual operating life of two main girders of a bridge crane was assessed by an analytical-experimental approach. The input parameters for the assessment were obtained from the evaluated stress time records and using the Rainflow Counting method. Experimental measurements identified an almost 50% decrease in the residual life of one of the girders. It was caused by non-compliance with the technological procedures for the regular replacement of the rails, where the rail was welded to the top flange on one of the girders. Considering realistic operating conditions, predicting the effect of welded rail on fatigue damage accumulation, performed by other than experimental procedures, is almost impossible for such complex structures. This paper not only documents the importance of experimental measurements but also highlights the significance of selecting measurement locations with consideration of the current technical state of the structure.

The article deals with the possibility of using digital image correlation method in experimental determining of damping ratio. The essence of the article is a proposal of algorithm for the processing of a time responses measured by correlation system Q-450 Dantec Dynamics. The algorithm uses a Fast Fourier Transformation and bandwidth method to calculate a damping ratio. The output is a graphical representation of the value of damping ratio for given natural frequency of the test object. The article presents the method of verification by testing algorithm on numerical models and its practical application in determining the value of damping ratio of a specimen material.