IIIT Hyderabad Publications |
|||||||||
|
Modular Pipe ClimberAuthors: Rama Vadapalli,Ruchita Vucha,Abhishek Sarkar,Madhava Krishna Conference: ADVANCES IN ROBOTICS - 2019 (AIR-2019 2019) Location IIT Madras, Chennai Date: 2019-07-02 Report no: IIIT/TR/2019/80 AbstractThis paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785-15e1 standard pipes. The robot has three tracks which operate independently and are mounted on three modules which are oriented at 120oto each other. The tracks provide for greater surface traction compared to wheels. The tracks are pushed onto the inner wall of the pipe by passive springs which help in maintaining the contact with the pipe during vertical climb and while turning in bends. The modules have the provision to compress asymmetrically, which helps the robot to take turns in bends in all directions. The motor torque required by the robot and the desired spring stiffness are calculated at quasi-static and static equilibriums when the pipe climber is in a vertical climb. The springs are further simulated and analyzed in ADAMS MSC. The prototype built based on these obtained values is experimented on, in complex pipe networks. Differential speed is employed when turning in bends to improve the efficiency and reduce the stresses experienced by the robot. Full paper: pdf Centre for Robotics |
||||||||
Copyright © 2009 - IIIT Hyderabad. All Rights Reserved. |