@article{(Open Science Index):https://publications.waset.org/pdf/9505,
	  title     = {Analytical Approach of the In-Pipe Robot on Branched Pipe Navigation and Its Solution},
	  author    = {Yoon Koo Kang and  Jung wan Park and  Hyun Seok Yang},
	  country	= {},
	  institution	= {},
	  abstract     = {This paper determines most common model of in-pipe
robots to derive its degree of freedom in order to compare with the
necessary degree of freedom required for a system to move inside
pipelines freely in order to derive analytical reason for losing control
of in-pipe robots at branched pipe. DOF of most common mechanism
in in-pipe robots can be calculated by considering the robot as a
parallel manipulator. A new design based on previously researched
in-pipe robot PAROYS has been suggested, and its possibility to
overcome branched section has been simulated.},
	    journal   = {International Journal of Mechanical and Mechatronics Engineering},
	  volume    = {7},
	  number    = {5},
	  year      = {2013},
	  pages     = {907 - 911},
	  ee        = {https://publications.waset.org/pdf/9505},
	  url   	= {https://publications.waset.org/vol/77},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 77, 2013},
	}