@inbook{3026fac7ad8b4a10a47c04b444e41ddc,
title = "Preliminary Design and Modeling of a Robot for Pipe Navigation with a Novel Wheel-Leg Architecture",
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.",
keywords = "Feasible design space, Kinetostatic analysis, Pipe inspection robot, Wheel-leg design",
author = "Nelson, {Carl A.}",
note = "Publisher Copyright: {\textcopyright} 2021, CISM International Centre for Mechanical Sciences.",
year = "2021",
doi = "10.1007/978-3-030-58380-4_27",
language = "English (US)",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "222--229",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
address = "Germany",
}