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

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ROMANSY 23 - Robot Design, Dynamics and Control (ROMANSY 2020)

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 601))

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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.

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Author information

Authors and Affiliations

  1. University of Nebraska-Lincoln, Lincoln, NE, 68588, USA

    Carl A. Nelson

Authors
  1. Carl A. Nelson
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Correspondence to Carl A. Nelson .

Editor information

Editors and Affiliations

  1. Tokyo University of Agriculture and Technology, Tokyo, Japan

    Gentiane Venture

  2. Karlstad University, Karlstad, Sweden

    Jorge Solis

  3. Tokyo Institute of Technology, Tokyo, Japan

    Yukio Takeda

  4. Hokkaido University, Sapporo, Japan

    Atsushi Konno

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Nelson, C.A. (2021). Preliminary Design and Modeling of a Robot for Pipe Navigation with a Novel Wheel-Leg Architecture. In: Venture, G., Solis, J., Takeda, Y., Konno, A. (eds) ROMANSY 23 - Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences, vol 601. Springer, Cham. https://doi.org/10.1007/978-3-030-58380-4_27

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