Design and Analysis of Modular Pipe Climber-III with a Multi-Output Differential Mechanism

Kumar, Vijay; Agarwal, Saharsh; Vadapalli, Rama; Govindan, Nagamanikandan; Krishna, K. Madhava

doi:10.1109/aim46487.2021.9517351

Cited by 2 publications

(3 citation statements)

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“…Another very specific application of tracked robots with modular tracks is internal pipe climbing and inspection. For instance, in [51] a robot with three parallel track modules placed at 120 • with axial symmetry around the robot's longitudinal axis is discussed. During operation, an adequate contact force between the tracks and the internal pipe surface is granted by radial springs carrying the track modules.…”

Section: Classification Of Track Typesmentioning

confidence: 99%

Tracked Locomotion Systems for Ground Mobile Robots: A Review

2022

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The paper discusses the state-of-the-art of locomotion systems for ground mobile robots comprising tracks. Tracked locomotion, due to the large contact surface with the ground, is particularly suitable for tackling soft, yielding, and irregular terrains, but is characterized by lower speed and energy efficiency than wheeled locomotion, and lower obstacle-climbing capability than legged locomotion. Therefore, in recent years academic and industrial researchers have designed a wide variety of hybrid solutions, combining tracks with legs and wheels. The paper proposes three possible parallel taxonomies, based on body architecture, track profile, and track type, to help designers select the most suitable architecture on the basis of the operative necessities. Moreover, modeling, simulation, and design methodologies for tracked ground mobile robots are recalled.

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Section: Classification Of Track Typesmentioning

confidence: 99%

Tracked Locomotion Systems for Ground Mobile Robots: A Review

2022

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“…The 3 − OOD is designed to be used inside a pipe climbing robot as shown in Fig. 9 [18,19]. It can equip the three tracks of the robot with differential speed so that, during a turn it can rotate the track travelling the longer distance faster than the track that travels the shorter distance.…”

Section: Current and Potential Applicationsmentioning

confidence: 99%

“…Equivalent kinematics of the outputs: Equations ( 17), (18) and (19) show that all the three outputs have equivalent kinematics with the input. The outputs (O 1−3 ) relate to the input (I) with additional dependence on the side gears (S 1−6 ).…”

Section: The Input To Outputs Dynamicsmentioning

confidence: 99%

Design And Analysis Of Three-Output Open Differential with 3-DOF

Vadapalli¹,

Govindan²,

Krishna³

2021

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This paper presents a novel passive three-output differential with three degrees of freedom (3DOF), that translates motion and torque from a single input to three outputs. The proposed Three-Output Open Differential is designed such that its functioning is analogous to the functioning of a traditional two-output open differential. That is, the differential translates equal motion and torque to all its three outputs when the outputs are unconstrained or are subjected to equivalent load conditions. The introduced design is the first differential with three outputs to realise this outcome. The differential action between the three outputs is realised passively by a symmetric arrangement of three two-output open differentials and three two-input open differentials. The resulting differential mechanism achieves the novel result of equivalent input to output angular velocity and torque relations for all its three outputs. Furthermore, Three-Output Open Differential achieves the novel result for differentials with more than two outputs where each of its outputs shares equivalent angular velocity and torque relations with all the other outputs. The kinematics and dynamics of the Three-Output Open Differential are derived using the bond graph method. In addition, the merits of the differential mechanism along with its current and potential applications are presented.

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Design and Analysis of Modular Pipe Climber-III with a Multi-Output Differential Mechanism

Cited by 2 publications

References 20 publications

Tracked Locomotion Systems for Ground Mobile Robots: A Review

Tracked Locomotion Systems for Ground Mobile Robots: A Review

Design And Analysis Of Three-Output Open Differential with 3-DOF

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