Analytical Approach of the In-Pipe Robot on Branched Pipe Navigation and Its Solution
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.
[1] Amir A.F. Nassiraei, Yoshinori Kawamura, Alizera Ahrary, Yoshikazu
Mikuriya, and Kazuo Ishii, "Concept and design of a fully autonomous
sewer pipe inspection mobile robot "KANTARO"", IEEE International
Conference on Robotics and Automation, April 2007.
[2] Josep M. Mirats Tur, and William Garthwaite, "Robotic devices for water
main in-pipe inspection: a survery", Journal of Field Robotics, 2010, pp.
481-508.
[3] Se-gon Roh and Hyouk Ryeol Choi, "Differential-drive in-pipe robot for
moving Inside urban gas pipelines", IEEE Transactions on Robotics, vol.
21, 2005, pp. 1-17.
[4] Jung wan Park, Woongsun Jeon, Yoon Koo Kang, Hyun Seok Yang, and
Hyuksung Park, "Instantaneous kinematic analysis for a crawler type
in-pipe robot", IEEE International Conference on Mechatronics, April
2011.
[5] Erich Rome, Joachim Hertzberg, Frank Kirchner, Ulrich Licht, and
Thomas Christaller, "Towards autonomous sewer robots: the MAKRO
project", Urban Water, 1999.
[6] Jungwan Park, Taehyun Kim, and Hyunseok Yangh, "Development of an
actively adaptable in-pipe robot", IEEE International Conference of
Mechatronics, 2009.
[1] Amir A.F. Nassiraei, Yoshinori Kawamura, Alizera Ahrary, Yoshikazu
Mikuriya, and Kazuo Ishii, "Concept and design of a fully autonomous
sewer pipe inspection mobile robot "KANTARO"", IEEE International
Conference on Robotics and Automation, April 2007.
[2] Josep M. Mirats Tur, and William Garthwaite, "Robotic devices for water
main in-pipe inspection: a survery", Journal of Field Robotics, 2010, pp.
481-508.
[3] Se-gon Roh and Hyouk Ryeol Choi, "Differential-drive in-pipe robot for
moving Inside urban gas pipelines", IEEE Transactions on Robotics, vol.
21, 2005, pp. 1-17.
[4] Jung wan Park, Woongsun Jeon, Yoon Koo Kang, Hyun Seok Yang, and
Hyuksung Park, "Instantaneous kinematic analysis for a crawler type
in-pipe robot", IEEE International Conference on Mechatronics, April
2011.
[5] Erich Rome, Joachim Hertzberg, Frank Kirchner, Ulrich Licht, and
Thomas Christaller, "Towards autonomous sewer robots: the MAKRO
project", Urban Water, 1999.
[6] Jungwan Park, Taehyun Kim, and Hyunseok Yangh, "Development of an
actively adaptable in-pipe robot", IEEE International Conference of
Mechatronics, 2009.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:58575", author = "Yoon Koo Kang and Jung wan Park and Hyun Seok Yang", title = "Analytical Approach of the In-Pipe Robot on Branched Pipe Navigation and Its Solution", abstract = "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.", keywords = "Branched pipe, Degree of freedom, In-pipe robot,Parallel manipulator.", volume = "7", number = "5", pages = "880-5", }