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New Approach of Fixation Possibilities Investigation for Snake Robot in the Pipe

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F15%3A00240597" target="_blank" >RIV/68407700:21220/15:00240597 - isvavai.cz</a>

  • Result on the web

    <a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7237657" target="_blank" >http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7237657</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/ICMA.2015.7237657" target="_blank" >10.1109/ICMA.2015.7237657</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    New Approach of Fixation Possibilities Investigation for Snake Robot in the Pipe

  • Original language description

    The research field of the snake robots provides a large scale of new information. The snake robots locomotion in pipes represents one of many complicated problems attracting the attention only in recent time period. During this study an experimental environment was designed corresponding to the pipe of U shaped cross section. This article describes a new innovative kinematic structure enabling both rotary and translational movements of links of a snake robot. Combination of these two robot constrains in constructions provides new possibilities of locomotion in a confined space. The main work contribution consists in the analysis of geometric configuration of links in static fixation according to their displacements and required actuators electric power. In the experiment with physical model the method of digital image correlation was used because of the possibilities to take the movement of high dynamic range. Contribution of this experiment furnishes new information and new approach in solving the existing problem.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JT - Propulsion, engines and fuels

  • OECD FORD branch

Result continuities

  • Project

    Result was created during the realization of more than one project. More information in the Projects tab.

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2015

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    2015 IEEE International Conference on Mechatronics and Automation

  • ISBN

    978-1-4799-7097-1

  • ISSN

  • e-ISSN

  • Number of pages

    7

  • Pages from-to

    -1

  • Publisher name

    University of Science and Technology

  • Place of publication

    Beijing

  • Event location

    Peking

  • Event date

    Aug 2, 2015

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article