{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T08:30:06Z","timestamp":1763454606071,"version":"3.45.0"},"reference-count":30,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T00:00:00Z","timestamp":1760313600000},"content-version":"unspecified","delay-in-days":12,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2025,10]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Pipeline inspection robots play a crucial role in maintaining the integrity of pipeline systems across various industries. In this paper, a novel pipeline inspection robot is designed based on a four degrees-of-freedom (DOF) generalized parallel mechanism (GPM). First, a four DOF mechanism is introduced using numerical and graph synthesis. The design employs numerical and graph synthesis methods to achieve an ideal symmetric configuration, enhancing the robot\u2019s adaptability and mobility. The coupling mid-platform, inspired by parallelogram mechanisms, enables synchronized contraction motion, allowing the robot to adjust to different pipe diameters. Then, the constraints of the pipeline inspection robot in the elbow are analyzed based on task requirements. Through kinematic and performance analyses using screw theory, the mechanism\u2019s feasibility in practical applications is confirmed. Theoretical analysis, simulations, and experiments demonstrate the robot\u2019s ability to achieve active steering in T-branches and elbows. Experimental validation in straight and bent pipes shows that the robot meets the expected speed targets and can successfully navigate complex pipeline environments. This research highlights the potential of GPMs in advancing the capabilities of pipeline inspection robots for real-world applications.<\/jats:p>","DOI":"10.1017\/s0263574725102622","type":"journal-article","created":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T10:10:00Z","timestamp":1760350200000},"page":"3682-3700","source":"Crossref","is-referenced-by-count":0,"title":["Design and analysis of pipeline inspection robot based on generalized parallel mechanisms"],"prefix":"10.1017","volume":"43","author":[{"given":"Yongheng","family":"Xing","sequence":"first","affiliation":[{"name":"Fudan University"}]},{"given":"Weizhan","family":"Ma","sequence":"additional","affiliation":[{"name":"Fudan University"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-1409-1540","authenticated-orcid":false,"given":"Chunxu","family":"Tian","sequence":"additional","affiliation":[{"name":"Fudan University"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7295-4837","authenticated-orcid":false,"given":"Dan","family":"Zhang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/0030zas98","id-type":"ROR","asserted-by":"publisher"}],"name":"The Hong Kong Polytechnic University"}]}],"member":"56","published-online":{"date-parts":[[2025,10,13]]},"reference":[{"key":"S0263574725102622_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2017.09.001"},{"key":"S0263574725102622_ref19","first-page":"310","volume-title":"2012 IEEE conference on sustainable utilization and development in engineering and technology (STUDENT), IEEE","author":"Ismail","year":"2012"},{"key":"S0263574725102622_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.105029"},{"key":"S0263574725102622_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/s11012-020-01136-y"},{"key":"S0263574725102622_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5652391"},{"key":"S0263574725102622_ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2023.105402"},{"key":"S0263574725102622_ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2010.05.001"},{"key":"S0263574725102622_ref14","doi-asserted-by":"publisher","DOI":"10.1108\/01439911011037721"},{"key":"S0263574725102622_ref9","doi-asserted-by":"publisher","DOI":"10.1177\/027836402322023240"},{"key":"S0263574725102622_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2327008"},{"key":"S0263574725102622_ref1","first-page":"1","volume-title":"2010 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","author":"T\u0103tar","year":"2010"},{"key":"S0263574725102622_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2019.06.001"},{"key":"S0263574725102622_ref16","doi-asserted-by":"publisher","DOI":"10.3390\/app10082853"},{"key":"S0263574725102622_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2017.07.014"},{"key":"S0263574725102622_ref7","doi-asserted-by":"publisher","DOI":"10.1007\/s11465-021-0655-1"},{"key":"S0263574725102622_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2024.105834"},{"key":"S0263574725102622_ref2","doi-asserted-by":"publisher","DOI":"10.3390\/electronics13234848"},{"key":"S0263574725102622_ref21","first-page":"6","volume-title":"31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005","author":"Sakamoto","year":"2005"},{"first-page":"17","volume-title":"Proc. 6th Int. Conf","year":"2003","key":"S0263574725102622_ref12"},{"key":"S0263574725102622_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2025.3539172"},{"key":"S0263574725102622_ref15","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TRO.2004.838000","article-title":"Differential-drive in-pipe robot for moving inside urban gas pipelines","volume":"21","author":"Roh","year":"2005","journal-title":"I Trans. Robot."},{"key":"S0263574725102622_ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2022.102352"},{"key":"S0263574725102622_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104281"},{"key":"S0263574725102622_ref28","doi-asserted-by":"publisher","DOI":"10.1115\/1.4067228"},{"key":"S0263574725102622_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2018.12.027"},{"key":"S0263574725102622_ref17","first-page":"252","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Kim","year":"2013"},{"key":"S0263574725102622_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2025.106019"},{"key":"S0263574725102622_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.proeng.2012.07.335"},{"key":"S0263574725102622_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2025.106003"},{"key":"S0263574725102622_ref13","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500216"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574725102622","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T08:27:08Z","timestamp":1763454428000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574725102622\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10]]},"references-count":30,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2025,10]]}},"alternative-id":["S0263574725102622"],"URL":"https:\/\/doi.org\/10.1017\/s0263574725102622","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2025,10]]}}}