Spatial transformation model and equations of detecting arms of wheel-type robot in cylindrical pipe

  • Yuanjin FangEmail author
  • Feng Yang
  • Zhifeng Dong
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


A four-arm, wheel-type and in-pipe robot, equipped with radars, is presented, aiming to detect the cavities outside the pipe wall. The swinging angles of the arms are the key to better detection; based on spatial transformation arithmetic, and the particular boundary condition of cylindrical pipe, a swinging-angle model which relate the swinging angle to the geometry of the robot and pipe is built. In order to solve this model accurately and fast, which meets the requiring to control promptly, an efficient iterative method is designed, and the number of iterations is determined to be 12. Finally, four numerical cases are given to test the efficiency of the methodology.


Four-arm wheel-type in-pipe robot Iterative method Pipe detection Spatial transformation 


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This research is supported by “Foundation of Central Universities of Education Department of China” No. 2010YJ04, and City Public Safety Lab. of China University of Mining and Technology Beijing. Authors would like to acknowledge and express their thanks for the support.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Mechanical and Information Engineering School of ChinaUniversity of Mining and TechnologyBeijingChina

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