Sensorless In-Hand Manipulation by An Underactuated Robot Hand

Ospina, Diego; Ramírez-Serrano, Alejandro

doi:10.1115/1.4046652

Cited by 22 publications

(12 citation statements)

References 10 publications

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“…The differentials proposed by S. Kota and S. Bidare (1997) and by Diego Ospina and Alejandro Ramirez-Serrano (2020) have schematics similar to those shown in Fig. 1(a) and carry similar limitations [8,9].…”

Section: Introductionmentioning

confidence: 80%

“…Another solution for three-output differential was developed by S. Kota and S. Bidare (1997) using standard bevel gear setups and epicyclic gear trains (planetary gear) [8]. A similar approach is proposed by Diego Ospina and Alejandro Ramirez-Serrano (2020) for the use of differentials with more than 2DOF in underactuated robotic arms [9]. The differentials proposed by S. Kota and S. Bidare (1997) and by Diego Ospina and Alejandro Ramirez-Serrano (2020) have schematics similar to those shown in Fig.…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Introductionmentioning

confidence: 80%

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 is caused in light of the fact that the results of the differential doesn't impart comparable energy to the information. Other recently proposed answers for Three-output differentials (3-OD's) [17,18] also followed a similar layout.…”

Section: Introductionmentioning

confidence: 96%

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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“…This is caused because the outputs of the differential does not share equivalent kinetics with the input. Other previously proposed solutions for Threeoutput differentials (3-OD's) [17], [18] also followed a similar differential layout, as shown in Fig. 1 Our 'Three-Output Open Differential' eliminates the mentioned limitation by realizing equivalent output to input kinetic relations.…”

Section: Introductionmentioning

confidence: 97%

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

Kumar¹,

Agarwal²,

Vadapalli³

et al. 2021

Preprint

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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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Sensorless In-Hand Manipulation by An Underactuated Robot Hand

Cited by 22 publications

References 10 publications

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

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

Pipe Climbing Robot

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

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