Instantaneous kinematic analysis for a crawler type in-pipe robot

摘要

This paper analyzes the motion of a crawler type in-pipe robot which has three driving module. The analogousness between the crawler in-pipe robot and parallel manipulator was analyzed, and then the instantaneous kinematic of the robot is derived using the screw theory. The in-pipe robot used in this paper, called PAROYS-II, consists of three driving parts and mechanism parts which are adaptable to various pipe diameters. The navigation method using Jacobian is suggested and verified by simulation and experiment.