TY - GEN
T1 - Instantaneous kinematic analysis for a crawler type in-pipe robot
AU - Park, Jung Wan
AU - Jeon, Woongsun
AU - Kang, Yoon Koo
AU - Yang, Hyun Seok
AU - Park, Hyuksung
PY - 2011
Y1 - 2011
N2 - This paper analyzes the motion of a crawler type in-pipe robot which has three driving module. The analogousness between the crawler in-pipe robot and parallel manipulator was analyzed, and then the instantaneous kinematic of the robot is derived using the screw theory. The in-pipe robot used in this paper, called PAROYS-II, consists of three driving parts and mechanism parts which are adaptable to various pipe diameters. The navigation method using Jacobian is suggested and verified by simulation and experiment.
AB - This paper analyzes the motion of a crawler type in-pipe robot which has three driving module. The analogousness between the crawler in-pipe robot and parallel manipulator was analyzed, and then the instantaneous kinematic of the robot is derived using the screw theory. The in-pipe robot used in this paper, called PAROYS-II, consists of three driving parts and mechanism parts which are adaptable to various pipe diameters. The navigation method using Jacobian is suggested and verified by simulation and experiment.
UR - http://www.scopus.com/inward/record.url?scp=80052168001&partnerID=8YFLogxK
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U2 - 10.1109/ICMECH.2011.5971315
DO - 10.1109/ICMECH.2011.5971315
M3 - Conference contribution
AN - SCOPUS:80052168001
SN - 9781612849836
T3 - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
SP - 381
EP - 385
BT - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
T2 - 2011 IEEE International Conference on Mechatronics, ICM 2011
Y2 - 13 April 2011 through 15 April 2011
ER -