Analytical Approach of the In-Pipe Robot on Branched Pipe Navigation and Its Solution
نویسندگان
چکیده
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.
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