1 research outputs found
Omnidirectional Three Module Robot Design and Simulation
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simplified lumped-model of the robot.Comment: 6 Pages accepted in ICAR 2019 (withdrawn), submitted and accepted in
ICCR 201