Omnidirectional Tractable Three Module Robot

Autor:	Suryavanshi, Kartik, Vadapalli, Rama, Vucha, Ruchitha, Sarkar, Abhishek, Krishna, K Madhava
Rok vydání:	2019
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	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 own axis allowing holonomic motion of the robot. The 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. We have developed a closed-form kinematic model for the robot in the paper and propose the Motion Singularity Region that the robot needs to avoid while negotiating T-junction. The design and motion capabilities of the robot are demonstrated both by conducting simulations in MSC ADAMS on a simplified lumped-model of the robot and with experiments on its physical embodiment. Comment: 7 pages, 18 figures, submitted to ICRA 2020
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1909.10277 Zobrazit plný text záznamu View this record from Arxiv