Stability analysis of tensegrity mechanism coupled with a bio-inspired piping inspection robot

  title={Stability analysis of tensegrity mechanism coupled with a bio-inspired piping inspection robot},
  author={Swaminath Venkateswaran and Damien Chablat},
Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired (Kassim et al. 2006). By using slot-follower leg mechanisms, DC-motors, and control units, a rigid caterpillar type inspection robot was designed and developed at LS2N, France (Venkateswaran et al. 2019a). This rigid prototype helped in identifying the static… 

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Mechanism and Machine Science (pp

  • Journal of Mechanisms and Robotics,
  • 2021