The Use of Instrumental Hardness Measurements in Determining Stresses in the Elastic Elements of a Manipulator for Servicing Water and Sewage Networks

The paper presents the design of a manipulator for servicing the elements of water and sewage infrastructure, in particular for installation and dismantling of pressure transducers without the need for earthmoving. To build this device the resilient elements, cold shaped, responsible for centering the manipulator in the technical tube were used. In their construction a method was applied of estimating the value of residual stresses in the cold shaped material, based on measurements of instrumental hardness. The experimental verification of numerical simulation of instrumental hardness measurements of flat springs made of 1.1274 steel is described.