Design and Simulation of a Flexible Three-Module Pipe Climber

Agarwal, Saharsh; Kumar, Vijay; Vadapalli, Rama; Sarkar, Abhishek; Krishna, K. Madhava

doi:10.1109/cmi50323.2021.9362883

Cited by 2 publications

(3 citation statements)

References 16 publications

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“…The robot is composed of two driving modules and a driving connecting arm, and can cross external obstacles such as fixtures, flanges, and valves, as well as pipe components such as elbows and T-branch joints. Unlike robots that climb pipes from the outside, Agarwal et al [ 14 ] designed a robot that can climb vertically within a pipe. The robot is composed of three symmetrically arranged track modules, which have two-way movement and can pass through internal complex T-shaped pipes and elbow networks at different angles.…”

Section: Overview Of Research On Climbing Robots Used For Vertical St...mentioning

confidence: 99%

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Fang

Cheng

2023

Biomimetics

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Climbing robots are designed to conduct tasks that may be dangerous for humans working at height. In addition to improving safety, they can also increase task efficiency and reduce labor costs. They are widely used for bridge inspection, high-rise building cleaning, fruit picking, high-altitude rescue, and military reconnaissance. In addition to climbing, these robots need to carry tools to complete their tasks. Hence, their design and development are more challenging than those of most other robots. This paper analyzes and compares the past decade’s design and development of climbing robots that can ascend vertical structures such as rods, cables, walls, and trees. Firstly, the main research fields and basic design requirements of climbing robots are introduced, and then the advantages and disadvantages of six key technologies are summarized, namely, conceptual design, adhesion methods, locomotion modes, safety mechanisms, control methods, and operational tools. Finally, the remaining challenges in research on climbing robots are briefly discussed and future research directions are highlighted. This paper provides a scientific reference for researchers engaged in the study of climbing robots.

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Section: Overview Of Research On Climbing Robots Used For Vertical St...mentioning

confidence: 99%

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Fang

Cheng

2023

Biomimetics

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“…The kinematics an output of the 3 − OOD shares with the other two outputs is determined by substituting Eqn. (12) and Eqn. ( 16) into the previously established input to outputs kinematics in Eqn.…”

Section: The Input To Outputs Dynamicsmentioning

confidence: 99%

“…In addition to using differential mechanisms, differential speed can be realised by electronically controlling the speeds of each wheel. Our previously developed robots, the Modular Pipe Climber I and II predefined the speeds for each track in accordance to the bends of the pipe [10,11,12]. Other pipe climbing robots such as MRINSPECT IV and LS-01 have also used similar methods in modulating speeds [13,14].…”

Section: Introductionmentioning

confidence: 99%

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

Vadapalli¹,

Govindan²,

Krishna³

2021

Preprint

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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 Simulation of a Flexible Three-Module Pipe Climber

Cited by 2 publications

References 16 publications

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

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

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