TY - JFULL AU - Yoon Koo Kang and Jung wan Park and Hyun Seok Yang PY - 2013/6/ TI - Analytical Approach of the In-Pipe Robot on Branched Pipe Navigation and Its Solution T2 - International Journal of Mechanical and Mechatronics Engineering SP - 906 EP - 911 VL - 7 SN - 1307-6892 UR - https://publications.waset.org/pdf/9505 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 77, 2013 N2 - 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. ER -