Instantaneous kinematic analysis for a crawler type in-pipe robot

Jung Wan Park, Woongsun Jeon, Yoon Koo Kang, Hyun Seok Yang, Hyuksung Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
Pages381-385
Number of pages5
DOIs
Publication statusPublished - 2011 Sep 2
Event2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey
Duration: 2011 Apr 132011 Apr 15

Publication series

Name2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

Other

Other2011 IEEE International Conference on Mechatronics, ICM 2011
CountryTurkey
CityIstanbul
Period11/4/1311/4/15

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Park, J. W., Jeon, W., Kang, Y. K., Yang, H. S., & Park, H. (2011). Instantaneous kinematic analysis for a crawler type in-pipe robot. In 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings (pp. 381-385). [5971315] (2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings). https://doi.org/10.1109/ICMECH.2011.5971315