Preliminary Design and Modeling of a Robot for Pipe Navigation with a Novel Wheel-Leg Architecture

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

Robots for pipe inspection have become more prevalent in recent years, and expanding the capabilities of these robots is of interest. Specific needs include accommodating a larger range of pipe sizes without needing customized robots, and navigating sharp bends in pipe networks. This paper presents a new pipe robot architecture with emphasis on a novel multi-link wheel-leg design. Favorable properties of the kinematics and kinetostatics of the robot are illustrated through analysis and simulation, and bounds for feasible component dimensions based on task descriptions are presented.

Original languageEnglish (US)
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer Science and Business Media Deutschland GmbH
Pages222-229
Number of pages8
DOIs
StatePublished - 2021

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume601
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

Keywords

  • Feasible design space
  • Kinetostatic analysis
  • Pipe inspection robot
  • Wheel-leg design

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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