n the article the classification of pipe crawling robots with vibratory drives is presented, their advantages and imperfections are reviewed. The schemes of the construction of a pipe crawling robot with a vibratory shock drive or vibratory drives. The dynamic models of a robot with a vibratoty shock drive and a one-dimensional vibration exciter with two-degrees of freedom were developed and the equation of their movement were formed and written.
A., et al. (Sat,) studied this question.