DocumentCode
2387914
Title
The kinematic modeling and optimal paramerization of an omni-directional pipeline robot
Author
Kwon, Young-Sik ; Yi, Byung-Ju
Author_Institution
School of Electrical Engineering and Computer Science, Hanyang University, Korea
fYear
2009
fDate
12-17 May 2009
Firstpage
1389
Lastpage
1394
Abstract
There is no prior work on exact kinematic modeling for a pipeline robot having three powered chains. This work presents the closed-form kinematic model of the pipeline inspection robot driven by three caterpillar wheel chains. Next, optimal kinematic parameters are analyzed by using isotropic index and force transmission ration. Lastly, the feasibility of the kinematic model is verified through motion simulation for a virtual pipeline equipped with elbows and T-branches.
Keywords
Kinematics; Pipelines; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location
Kobe
ISSN
1050-4729
Print_ISBN
978-1-4244-2788-8
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2009.5152779
Filename
5152779
Link To Document