%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