DocumentCode
2566953
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
fYear
2011
fDate
13-15 April 2011
Firstpage
381
Lastpage
385
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics (ICM), 2011 IEEE International Conference on
Conference_Location
Istanbul
Print_ISBN
978-1-61284-982-9
Type
conf
DOI
10.1109/ICMECH.2011.5971315
Filename
5971315
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