{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,28]],"date-time":"2026-04-28T12:55:40Z","timestamp":1777380940458,"version":"3.51.4"},"reference-count":64,"publisher":"SAGE Publications","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["AIS"],"published-print":{"date-parts":[[2024,3,14]]},"abstract":"<jats:p>This paper discusses the development and design of two wheeled-type In-Pipe Inspection Robots (IPIRs), Kuzhali\u00a0I and Kuzhali\u00a0II, which were created to address the limitations of traditional human inspection methods and earlier robot designs. Specifically, the robots aim to overcome the motion singularity experienced by IPIRs when navigating through curved pipes. Kuzhali\u00a0I was developed with wheels mounted at an asymmetric angle, which enables the wheels to maintain contact with the pipe\u2019s surface, preventing motion singularity. However, Kuzhali\u00a0I had limitations due to its prismatic mechanism, and thus Kuzhali\u00a0II was developed with a telescopic mechanism to allow it to pass through vertical pipes with obstacles. Motion analysis was conducted on both robots to demonstrate how they overcome motion singularity and navigate through straight and curved pipelines. Simulation results showed that the forces acting on the robots\u2019 wheels fell within 5\u00a0N to 12\u00a0N, demonstrating stability while navigating pipeline junctions. Experimental tests were conducted on Kuzhali\u00a0II, and the results were compared to simulation results, showing an error of less than 5%. The results of the experiments indicate that Kuzhali\u00a0II is safe to use for pipeline inspection, can navigate through vertical pipelines with ease and can overcome motion singularity in curved pipes. These robots offer a faster, more accurate, and safer alternative to human inspection, which can reduce the risk of pipeline failures and associated environmental and safety hazards.<\/jats:p>","DOI":"10.3233\/ais-220247","type":"journal-article","created":{"date-parts":[[2023,7,18]],"date-time":"2023-07-18T11:23:33Z","timestamp":1689679413000},"page":"43-55","source":"Crossref","is-referenced-by-count":5,"title":["Design of a wheeled-type In-Pipe Inspection Robot to overcome motion singularity in curved pipes"],"prefix":"10.1177","volume":"16","author":[{"given":"Rajendran","family":"Sugin\u00a0Elankavi","sequence":"first","affiliation":[{"name":"Centre for Automation and Robotics (ANRO), School of Mechanical Sciences, Hindustan Institute of Technology and Science, Chennai, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"D.","family":"Dinakaran","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics (ANRO), School of Mechanical Sciences, Hindustan Institute of Technology and Science, Chennai, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Arockia Selvakumar Arockia","family":"Doss","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Vellore Institute of Technology, Chennai, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"R.M.","family":"Kuppan\u00a0Chetty","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics (ANRO), School of Mechanical Sciences, Hindustan Institute of Technology and Science, Chennai, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.M.","family":"Ramya","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics (ANRO), School of Mechanical Sciences, Hindustan Institute of Technology and Science, Chennai, India"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","reference":[{"key":"10.3233\/AIS-220247_ref1","doi-asserted-by":"publisher","DOI":"10.1051\/matecconf\/20178702029"},{"key":"10.3233\/AIS-220247_ref2","doi-asserted-by":"publisher","DOI":"10.3390\/s19112548"},{"issue":"3","key":"10.3233\/AIS-220247_ref3","doi-asserted-by":"publisher","first-page":"349","DOI":"10.14569\/IJACSA.2022.0130343","article-title":"Development of pipe inspection robot using soft actuators, microcontroller and LabVIEW","volume":"13","author":"Aliff","year":"2022","journal-title":"Int. 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