Modular Pipe Climber III with Three-Output Open Differential

Vadapalli, Rama; Agarwal, Saharsh; Kumar, Vijay; Suryavanshi, Kartik; Nagamanikandan, G; Krishna, K. Madhava

doi:10.1109/iros51168.2021.9635853

Cited by 4 publications

(12 citation statements)

References 22 publications

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“…In any case, while moving inside the line twists, the transmission changes the track speed of the robot with a definitive objective that the track setting out to all parts of the more extended distance turns quicker than the track setting out to all parts of the more limited distance. Insinuate [9,15] for extra figures, graphs and information.…”

Section: Transmissionmentioning

confidence: 99%

“…Pipe climbing robots with three changed modules are largely the more steady and give better portability. Prior proposed confined line climbers [7,8,9] have used three driving tracks coordinated equally to each other, as MRINSPECT series of robots. In such robots, to suitably control the three tracks, their rates were pre-depicted for the line turns.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An In-Pipe Inspection Robot With Sensorless Underactuated Magnets and Omnidirectional Tracks: Design and Implementation

Gaurav¹,

Santosh²,

Reddy³

et al. 2022

Preprint

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This paper presents the plan of an in-pipe climbing robot that works utilizing an astute transmission part to investigate complex relationship of lines. Standard wheeled/proceeded in-pipe climbing robots are inclined to slip and take while investigating in pipe turns. The instrument helps in accomplishing the main inevitable result of getting out slip and drag in the robot tracks during advancement. The proposed transmission appreciates the practical furthest reaches of the standard two-yield transmission, which is developed the basic time for a transmission with three results. The instrument conclusively changes the track speeds of the robot considering the powers applied on each track inside the line relationship, by getting out the essential for any remarkable control. The amusement of the robot crossing in the line network in various orientation and in pipe-turns without slip shows the proposed game plan's adequacy.

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Section: Transmissionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An In-Pipe Inspection Robot With Sensorless Underactuated Magnets and Omnidirectional Tracks: Design and Implementation

Gaurav¹,

Santosh²,

Reddy³

et al. 2022

Preprint

View full text Add to dashboard Cite

show abstract

“…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%

“…But when moving in a straight path the differential can rotate the thee tracks with equal speeds. Using the differential in a pipe climber will potentially eliminate slip and drag of its tracks and reduce the stresses the robot experiences during turns and thus providing a smoother motion of the robot [18]. Other current applications can be found in robotic arms such as the SARAH (Self-Adapting Robotic Auxilary Hand) (Self-Adapting Robotic Auxilary Hand) and sensor less in-hand manipulation by underactuated robot hand [9,20,21].…”

Section: Current and Potential Applicationsmentioning

confidence: 99%

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

Vadapalli¹,

Govindan²,

Krishna³

2021

Preprint

Self Cite

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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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Kinematic Analysis of a Wheeled-Leg Small Pipeline Robot Turning in Curved Pipes

Wang,

Mo,

Cai

et al. 2024

Electronics

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A wheeled-leg pipeline robot suitable for operation in small pipes is proposed to address the challenges of detecting the condition of pipelines, such as solution corrosion and crack defects, which cannot be conducted externally due to the pre-buried pipe system embedded in other structures. Inspired by existing pipeline robots, the proposed robot employs a mechanical structure with six wheeled legs arranged in an alternating pattern. To analyze the motion state of the pipeline robot turning in curved pipes, kinematic analysis based on geometry is conducted to figure out the kinematic characteristics of the robot navigating in curved pipes. The relationship between the motion trajectories of each contact wheel and the posture angle of the robot in the pipeline is the focal point. Additionally, a turning method preventing wheel slippage is proposed specifically for this type of robot. Finally, an experiment with the pipeline robot navigating in the curved pipeline is implemented and demonstrates successful passing through curved pipes with an inner diameter of 120 mm as well as a turning radius of 240 mm, with the effectiveness of the kinematic analysis validated.

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Modular Pipe Climber III with Three-Output Open Differential

Cited by 4 publications

References 22 publications

An In-Pipe Inspection Robot With Sensorless Underactuated Magnets and Omnidirectional Tracks: Design and Implementation

An In-Pipe Inspection Robot With Sensorless Underactuated Magnets and Omnidirectional Tracks: Design and Implementation

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

Kinematic Analysis of a Wheeled-Leg Small Pipeline Robot Turning in Curved Pipes

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