Mechanism Design and Manipulating Algorithm for Orientation Changing Module with Three Flexible Links

Abstract:

This paper presents mechanism and control algorithm for inch worm type in-pipe robot using three helical springs. Control algorithm is based on experiment result and length of three spring are derived from desired position of top module. A feasibility of proposed mechanism is verified by comparing between ellipse model and position of top module, and it shows that proposed mechanism can steer properly.

• Periodical: Applied Mechanics and Materials (Volume 619)
• Pages: 195-199
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.619.195
• Online since: August 2014
• Authors: Jong Gu Park, Byung Jo Lee, Woong Hee Cho, Kevin G. Gim, Hyun Seok Yang
• Keywords: Flexible Link, In-Pipe, Manipulating Algorithm, Mobile Robot, Orientation Changing

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