Mechanism design and manipulating algorithm for orientation changing module with three flexible links

Jong Gu Park, Byung Jo Lee, Woong Hee Cho, Kevin G. Gim, Hyun Seok Yang

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

Abstract

This paper presents mechanism and control algorithm for inch worm type in-pipe robot using three helical springs. Control algorithm is based on experiment result and length of three spring are derived from desired position of top module. A feasibility of proposed mechanism is verified by comparing between ellipse model and position of top module, and it shows that proposed mechanism can steer properly.

Original languageEnglish
Title of host publicationMechanical and Electrical Technology VI
PublisherTrans Tech Publications Ltd
Pages195-199
Number of pages5
ISBN (Print)9783038352051
DOIs
Publication statusPublished - 2014
Event6th International Conference on Mechanical and Electrical Technology, ICMET 2014 - Bangkok, Thailand
Duration: 2014 Jul 172014 Jul 18

Publication series

NameApplied Mechanics and Materials
Volume619
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Other

Other6th International Conference on Mechanical and Electrical Technology, ICMET 2014
CountryThailand
CityBangkok
Period14/7/1714/7/18

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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