In the article constructions of the pipeline robots with elastic elements are reviewed and the scheme of new original construction is presented. The mathematical models of a robot with one-dimensional vibration exciter with two degrees of freedom were developed and the equations of movement were formed and written. The mathematical model of the pipeline robot with circular elements is formed and its motion equations are presented.

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In the article the classification of inpipe robots is presented, their advantages and imperfections are reviewed. The schemes of the construction of the wall press walking inpipe robot with a pneumatic drive and an inpipe robot with a vibratory pneumatic drive are given. The analysis of the identification method of leaks occurring due to damages of the linear part of the main oil pipelines is carried out. The momentum and continuity equations of viscous compressible fluid in a pressure pipeline are presented. Differential equations of fluid movement in the oil pipeline are solved by the method of characteristics. Variation diagrams of pressure and velocity of fluid in a leaking oil pipeline are presented. The impulsive extinguishing systems are presented.

A model having two degrees of freedom and incorporating a specific type of nonlinearity is proposed for the analysis of dynamics of a pipe robot. Specific type of nonlinearity has different values of viscous friction depending on the sign of velocity of the system. Numerical investigations for various parameters of the system are presented. Optimal frequency of excitation of a pipe robot is determined. The obtained results are used in the process of design of pipe robots: it is especially important to choose the frequency of excitation in order to ensure effective operation of a pipe robot.

Vibration manipulators are important in the process of creation of 1D – 3D manipulators and robots. The manipulator which is proposed here has the following advantages: simplicity of the structure and high coefficient of useful operation. This is because of the fact that the driving force provided by the vibration drive coincides with the direction of motion of the manipulator. Analysis of the regime of steady state motion is presented by using numerical methods. The obtained graphical relationships enable to choose the most effective parameters of the system in the process of design of vibration manipulators.