This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their axis allowing holonomic motion of the robot. Holonomic motion enables the robot to overcome motion singularity when negotiating T-junctions and further allows the robot to arrive in a preferred orientation while taking turns inside a pipe. The singularity region while negotiating T-junctions is analyzed to formulate the geometry of the region. The design and motion capabilities are validated by conducting simulations in MSC ADAMS on a simplified lumped-model of the robot.
@article{arxiv.2002.08288,
title = {Omnidirectional Three Module Robot Design and Simulation},
author = {Kartik Suryavanshi and Rama Vadapalli and Praharsha Budharaja and Abhishek Sarkar and Madhava Krishna},
journal= {arXiv preprint arXiv:2002.08288},
year = {2020}
}
Comments
6 Pages accepted in ICAR 2019 (withdrawn), submitted and accepted in ICCR 2019