Publication

Hanyang University HumanRobotics Lab

International Conference
The Kinematic Modeling and Optimal Parameterization of an Omni-Directional Pipeline Robot
Conference
2009 IEEE International Conference on Robotics and Automation
Author
Y.-S. Kwon, B.-J. Yi
Year
2009
Date
2009.05.31
File
The kinematic modeling and optimal paramerization of an omni-directional pipeline robot.pdf (1.4M) 0회 다운로드 DATE : 2020-10-19 22:21:55
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.