Omnidirectional Tractable Three Module Robot

Suryavanshi, Kartik; Vadapalli, Rama; Vucha, Ruchitha; Sarkar, Abhishek; Krishna, K. Madhava

doi:10.1109/icra40945.2020.9197210

Cited by 14 publications

(10 citation statements)

References 20 publications

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“…Pipe climbing robots with three balanced modules are more steady and give better portability. Prior proposed secluded line climbers [10,11] have used three driving tracks arranged symmetrically to each other, similar to MRINSPECT series of robots [12,13,14]. In such robots, to effectively control the three tracks, their speeds were pre-characterized for the line twists.…”

Section: Introductionmentioning

confidence: 99%

“…In such robots, to effectively control the three tracks, their speeds were pre-characterized for the line twists. This represented a constraint for the robot to arrange pipe-twists just at a specific direction comparing to the pre-characterized speeds [10,11,12,13,14]. In genuine applications, the robot's direction change assuming it encounters slip in the tracks during movement.…”

Section: Introductionmentioning

confidence: 99%

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Pipe Climbing Robot

Jalal¹,

Kant²,

Kumar³

et al. 2022

Preprint

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This paper presents the plan of an in-pipe climbing robot that works utilizing a novel Three-Output Open Differential(3-OOD) component to navigate complex organizations of lines. Customary wheeled/followed in-pipe climbing robots are inclined to slip and haul while navigating in pipe twists. The 3-OOD component helps in accomplishing the original aftereffect of wiping out slip and drag in the robot tracks during movement. The proposed differential understands the practical capacities of the customary two-yield differential, which is accomplished the initial time for a differential with three results. The 3-OOD component precisely tweaks the track rates of the robot in light of the powers applied on each track inside the line organization, by wiping out the requirement for any dynamic control. The recreation of the robot crossing in the line network in various directions and in pipe-twists without slip shows the proposed plan's adequacy.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Pipe Climbing Robot

Jalal¹,

Kant²,

Kumar³

et al. 2022

Preprint

View full text Add to dashboard Cite

show abstract

“…Pipe climbing robots with three adjusted modules are all the more consistent and give better movability. Earlier proposed detached line climbers [10,11] have utilized three driving tracks organized evenly to one another, like MRINSPECT series of robots [12,13,14]. In such robots, to viably control the three tracks, their rates were pre-portrayed for the line turns.…”

Section: Introductionmentioning

confidence: 99%

“…In such robots, to viably control the three tracks, their rates were pre-portrayed for the line turns. This addressed an imperative for the robot to orchestrate pipe-contorts exactly at a particular bearing contrasting with the pre-described rates [10,11,12,13,14]. In certifiable applications, the robot's course change accepting it experiences slip in the tracks during development.…”

Section: Introductionmentioning

confidence: 99%

In-Pipe Robot

Kant¹,

Gaurav²,

Kumar³

2022

Preprint

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This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while exploring in pipe turns. The mechanism helps in achieving the first eventual outcome of clearing out slip and drag in the robot tracks during development. The proposed differential comprehends the down to earth limits of the standard two-yield differential, which is cultivated the underlying time for a differential with three outcomes. The mechanism definitively changes the track paces of the robot considering the powers applied on each track inside the line association, by clearing out the prerequisite for any unique control. The entertainment of the robot crossing in the line network in different bearings and in pipe-turns without slip shows the proposed arrangement's ampleness.

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“…(e-mail: vish-nukmr001@gmail.com) Pipe climbing robots with three symmetrical modules are more stable and provide better mobility. Our earlier proposed modular pipe climbers [10], [11] have used three driving tracks arranged symmetrically to each other, similar to MRINSPECT series of robots [12]- [14]. In such robots, to actively control the three tracks, their velocities were pre-defined for the pipebends.…”

Section: Introductionmentioning

confidence: 99%

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

Kumar¹,

Agarwal²,

Vadapalli³

et al. 2021

Preprint

Self Cite

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This paper presents the design of an in-pipe climbing robot that operates using a novel 'Three-output open differential'(3-OOD) mechanism to traverse complex networks of pipes. Conventional wheeled/tracked in-pipe climbing robots are prone to slip and drag while traversing in pipe bends. The 3-OOD mechanism helps in achieving the novel result of eliminating slip and drag in the robot tracks during motion. The proposed differential realizes the functional abilities of the traditional two-output differential, which is achieved the first time for a differential with three outputs. The 3-OOD mechanism mechanically modulates the track speeds of the robot based on the forces exerted on each track inside the pipe network, by eliminating the need for any active control. The simulation of the robot traversing in the pipe network in different orientations and in pipe-bends without slip shows the proposed design's effectiveness.

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Omnidirectional Tractable Three Module Robot

Cited by 14 publications

References 20 publications

Pipe Climbing Robot

Pipe Climbing Robot

In-Pipe Robot

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

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