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.
翻译:本文介绍了使用“三输出开放差分”(3-OOOD)新颖机制运行的管道内攀爬机器人的设计,该机器人使用“三输出开放差分”(3-OOOD)机制穿越管道的复杂网络。 常规轮式/跟踪式管道内攀爬机器人在管道弯曲中很容易滑落和拖动。 3-OOOD机制有助于在运动期间实现消除滑落和拖动机器人轨道的新结果。 拟议的差分实现了传统的双输出差的功能能力,这是首次在三种产出之间实现的差分。 3-OOD机制机械地调整了机器人的轨道速度,其依据是管道网络内每个轨道上所施加的力,从而消除了任何主动控制的必要性。 模拟管道网络内不同方向和无滑动的管道箱内机器人穿行过程显示了拟议设计的效果。