Design and Performance Analysis of a Parallel Pipeline Robot
Zhonghua Shen,
Menglin Xie,
Zhendong Song
et al.
Abstract:A parallel four-legged pipeline robot is designed to mitigate the issue of uneven motor loading on the single-leg linkage responsible for movement along the pipe diameter. This issue occurs because the drive motor located closer to the robot body requires higher torque when the serial robot operates along the inner wall of a circular polyethylene gas pipe in an urban environment. The forward and inverse kinematic equations for a single-leg linkage are derived to establish the relationship between joint angles … Show more
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