{"id":"https://openalex.org/W1964366170","doi":"https://doi.org/10.1163/156855311x614554","title":"Stiffness Design of Springs for a Screw Drive In-Pipe Robot to Pass through Curved Pipes and Vertical Straight Pipes","display_name":"Stiffness Design of Springs for a Screw Drive In-Pipe Robot to Pass through Curved Pipes and Vertical Straight Pipes","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W1964366170","doi":"https://doi.org/10.1163/156855311x614554","mag":"1964366170"},"language":"en","primary_location":{"id":"doi:10.1163/156855311x614554","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855311x614554","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073931012","display_name":"Atsushi Kakogawa","orcid":"https://orcid.org/0000-0003-3543-1284"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Atsushi Kakogawa","raw_affiliation_strings":["a    Department of Robotics, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Shiga 525-8577, Japan","Department of Robotics, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Shiga 525-8577, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a    Department of Robotics, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Shiga 525-8577, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Shiga 525-8577, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["b    Department of Robotics, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Shiga 525-8577, Japan;, Email: shugen@se.ritsumei.ac.jp","Department of Robotics, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Shiga 525-8577, Japan;, Email: shugen@se.ritsumei.ac.jp"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b    Department of Robotics, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Shiga 525-8577, Japan;, Email: shugen@se.ritsumei.ac.jp","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu, Shiga 525-8577, Japan;, Email: shugen@se.ritsumei.ac.jp","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5073931012"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":3.3131,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.91393296,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"26","issue":"3-4","first_page":"253","last_page":"276"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13341","display_name":"Belt Conveyor Systems Engineering","score":0.951200008392334,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13827","display_name":"Mechatronics Education and Applications","score":0.9491000175476074,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7299625277519226},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7023560404777527},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6223230361938477},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.610713541507721},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5995023250579834},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.5654550194740295},{"id":"https://openalex.org/keywords/ball-screw","display_name":"Ball screw","score":0.5553650259971619},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.5275067090988159},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.507405698299408},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.49559080600738525},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4171798825263977},{"id":"https://openalex.org/keywords/pipeline-transport","display_name":"Pipeline transport","score":0.4126394987106323},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3294435739517212},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.26175475120544434},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11737892031669617},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11204442381858826},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10658717155456543}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7299625277519226},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7023560404777527},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6223230361938477},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.610713541507721},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5995023250579834},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.5654550194740295},{"id":"https://openalex.org/C2777606094","wikidata":"https://www.wikidata.org/wiki/Q1791122","display_name":"Ball screw","level":3,"score":0.5553650259971619},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.5275067090988159},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.507405698299408},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.49559080600738525},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4171798825263977},{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.4126394987106323},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3294435739517212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.26175475120544434},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11737892031669617},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11204442381858826},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10658717155456543},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C206391251","wikidata":"https://www.wikidata.org/wiki/Q1186738","display_name":"Nut","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855311x614554","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855311x614554","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1512735434","https://openalex.org/W1730774331","https://openalex.org/W2067461774","https://openalex.org/W2090265153","https://openalex.org/W2111505846","https://openalex.org/W2120606903","https://openalex.org/W2120916852","https://openalex.org/W2142602006","https://openalex.org/W2145209102","https://openalex.org/W2156803362","https://openalex.org/W2157893028","https://openalex.org/W2172238117","https://openalex.org/W2545565896"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W2009505450","https://openalex.org/W4285553133","https://openalex.org/W4205169999","https://openalex.org/W2910570437","https://openalex.org/W2483415178","https://openalex.org/W2614603712","https://openalex.org/W2072651286","https://openalex.org/W2002592812","https://openalex.org/W1961064824"],"abstract_inverted_index":{"Various":[0],"in-pipe":[1,69],"robots":[2,21,70],"used":[3,170],"for":[4,132,148],"inspection":[5],"have":[6],"been":[7,43,94,169],"developed":[8],"as":[9],"a":[10,29,77],"preventive":[11],"measure":[12],"against":[13],"leakage.":[14],"To":[15,81],"expand":[16],"the":[17,38,53,85,89,97,100,110,112,115,126,133,138,149,154,162,173,176],"use":[18],"of":[19,62,88,99,103,135,137,175],"these":[20],"in":[22,106,161],"small":[23,78],"pipelines,":[24],"high":[25],"environmental":[26],"adaptability":[27],"via":[28],"simple":[30],"structure":[31],"must":[32],"be":[33],"achieved.":[34],"One":[35],"solution,":[36],"using":[37],"screw":[39,54,67,90],"drive":[40,55,68,91],"mechanism,":[41],"has":[42,93,168],"focused":[44],"on":[45,96,125],"because":[46,61],"it":[47],"requires":[48],"only":[49],"one":[50],"motor.":[51],"However,":[52],"mechanism":[56,92],"cannot":[57,71],"achieve":[58],"complex":[59],"motion":[60,105],"its":[63],"1-d.o.f.":[64],"Therefore,":[65],"existing":[66],"pass":[72,152],"through":[73,153],"curved":[74,107,155],"pipes":[75],"with":[76],"curvature":[79],"radius.":[80],"overcome":[82],"this":[83],"problem,":[84],"kinematic":[86],"analysis":[87],"conducted":[95],"basis":[98],"basic":[101],"principle":[102],"helical":[104],"pipes.":[108],"From":[109],"analysis,":[111],"relationship":[113],"among":[114],"spring":[116,143],"stiffness,":[117],"motor":[118],"torque,":[119],"robot":[120,150],"length":[121],"and":[122,157],"static":[123],"friction":[124],"inner":[127],"pipe":[128,156],"wall":[129],"is":[130],"established":[131],"design":[134],"stiffness":[136,144],"supporting":[139],"springs.":[140],"The":[141,165],"optimal":[142],"is,":[145],"thus,":[146],"derived":[147],"to":[151,158,171],"climb":[159],"up":[160],"vertical":[163],"pipe.":[164],"experimental":[166],"test":[167],"verify":[172],"validity":[174],"design.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":7}],"updated_date":"2026-05-16T08:24:45.110214","created_date":"2025-10-10T00:00:00"}
