Yoon Koo Kang and Jung wan Park and Hyun Seok Yang
Analytical Approach of the InPipe Robot on Branched Pipe Navigation and Its Solution
907 - 911
2013
7
5
International Journal of Mechanical and Mechatronics Engineering
https://publications.waset.org/pdf/9505
https://publications.waset.org/vol/77
World Academy of Science, Engineering and Technology
This paper determines most common model of inpipe
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 inpipe robots at branched pipe. DOF of most common mechanism
in inpipe robots can be calculated by considering the robot as a
parallel manipulator. A new design based on previously researched
inpipe robot PAROYS has been suggested, and its possibility to
overcome branched section has been simulated.
Open Science Index 77, 2013