%0 Journal Article
	%A Yoon Koo Kang and  Jung wan Park and  Hyun Seok Yang
	%D 2013
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 77, 2013
	%T Analytical Approach of the In-Pipe Robot on Branched Pipe Navigation and Its Solution
	%U https://publications.waset.org/pdf/9505
	%V 77
	%X 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.
	%P 907 - 911