Title :
Instantaneous kinematic analysis for a crawler type in-pipe robot
Author :
Park, Jung Wan ; Jeon, Woongsun ; Kang, Yoon Koo ; Yang, Hyun Seok ; Park, Hyuksung
Author_Institution :
Mech. Sch. of Eng., Yonsei Univ., Seoul, South Korea
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.
Keywords :
manipulator kinematics; mobile robots; crawler type in-pipe robot; driving module; instantaneous kinematic analysis; navigation method; parallel manipulator; screw theory; Jacobian matrices; Mobile robots; Navigation; Robot sensing systems; Jacobian; in-pipe robot; instantaneous kinematic; navigation method; screw theory;
Conference_Titel :
Mechatronics (ICM), 2011 IEEE International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-1-61284-982-9
DOI :
10.1109/ICMECH.2011.5971315
