Modular Pipe Climber III with Three-Output Open Differential

The paper introduces the novel Modular Pipe Climber III with a Three-Output Open Differential (3-OOD) mechanism to eliminate slipping of the tracks due to the changing cross-sections of the pipe. This will be achieved in any orientation of the robot. Previous pipe climbers use three-wheel/track modu...

Full description

Saved in:
Bibliographic Details
Published in:arXiv.org 2022-01
Main Authors: Vadapalli, Rama, Agarwal, Saharsh, Kumar, Vishnu, Suryavanshi, Kartik, Nagamanikandan, K Madhava Krishna
Format: Article
Language:English
Subjects:
Active control
Modules
Pipes
Robots
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by
cites
container_end_page
container_issue
container_start_page
container_title arXiv.org
container_volume
creator Vadapalli, Rama
Agarwal, Saharsh
Kumar, Vishnu
Suryavanshi, Kartik
Nagamanikandan
K Madhava Krishna
description The paper introduces the novel Modular Pipe Climber III with a Three-Output Open Differential (3-OOD) mechanism to eliminate slipping of the tracks due to the changing cross-sections of the pipe. This will be achieved in any orientation of the robot. Previous pipe climbers use three-wheel/track modules, each with an individual driving mechanism to achieve stable traversing. Slipping of tracks is prevalent in such robots when it encounters the pipe turns. Thus, active control of each module's speed is employed to mitigate the slip, thereby requiring substantial control effort. The proposed pipe climber implements the 3-OOD to address this issue by allowing the robot to mechanically modulate the track speeds as it encounters a turn. The proposed 3-OOD is the first three-output differential to realize the functional abilities of a traditional two-output differential.
format article
fullrecord <record><control><sourceid>proquest</sourceid><recordid>TN_cdi_proquest_journals_2607469112</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>2607469112</sourcerecordid><originalsourceid>FETCH-proquest_journals_26074691123</originalsourceid><addsrcrecordid>eNqNyrsKwjAUgOEgCBbtOxxwLqQnvSi4VcUOUofuJeIpTYltzAVfXwcfwOkfvn_BIhQiTXYZ4orFzo2ccyxKzHMRscN1fgQtLdyUIai0et7JQl3X8FZ-gHawREkTvAkeGkMTHFXfk6XJK6k3bNlL7Sj-dc2251NbXRJj51cg57txDnb6UocFL7Nin6Yo_rs-zVc2uQ</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2607469112</pqid></control><display><type>article</type><title>Modular Pipe Climber III with Three-Output Open Differential</title><source>Publicly Available Content Database</source><creator>Vadapalli, Rama ; Agarwal, Saharsh ; Kumar, Vishnu ; Suryavanshi, Kartik ; Nagamanikandan ; K Madhava Krishna</creator><creatorcontrib>Vadapalli, Rama ; Agarwal, Saharsh ; Kumar, Vishnu ; Suryavanshi, Kartik ; Nagamanikandan ; K Madhava Krishna</creatorcontrib><description>The paper introduces the novel Modular Pipe Climber III with a Three-Output Open Differential (3-OOD) mechanism to eliminate slipping of the tracks due to the changing cross-sections of the pipe. This will be achieved in any orientation of the robot. Previous pipe climbers use three-wheel/track modules, each with an individual driving mechanism to achieve stable traversing. Slipping of tracks is prevalent in such robots when it encounters the pipe turns. Thus, active control of each module's speed is employed to mitigate the slip, thereby requiring substantial control effort. The proposed pipe climber implements the 3-OOD to address this issue by allowing the robot to mechanically modulate the track speeds as it encounters a turn. The proposed 3-OOD is the first three-output differential to realize the functional abilities of a traditional two-output differential.</description><identifier>EISSN: 2331-8422</identifier><language>eng</language><publisher>Ithaca: Cornell University Library, arXiv.org</publisher><subject>Active control ; Modules ; Pipes ; Robots</subject><ispartof>arXiv.org, 2022-01</ispartof><rights>2022. This work is published under http://creativecommons.org/licenses/by/4.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://www.proquest.com/docview/2607469112?pq-origsite=primo$$EHTML$$P50$$Gproquest$$Hfree_for_read</linktohtml><link.rule.ids>777,781,25734,36993,44571</link.rule.ids></links><search><creatorcontrib>Vadapalli, Rama</creatorcontrib><creatorcontrib>Agarwal, Saharsh</creatorcontrib><creatorcontrib>Kumar, Vishnu</creatorcontrib><creatorcontrib>Suryavanshi, Kartik</creatorcontrib><creatorcontrib>Nagamanikandan</creatorcontrib><creatorcontrib>K Madhava Krishna</creatorcontrib><title>Modular Pipe Climber III with Three-Output Open Differential</title><title>arXiv.org</title><description>The paper introduces the novel Modular Pipe Climber III with a Three-Output Open Differential (3-OOD) mechanism to eliminate slipping of the tracks due to the changing cross-sections of the pipe. This will be achieved in any orientation of the robot. Previous pipe climbers use three-wheel/track modules, each with an individual driving mechanism to achieve stable traversing. Slipping of tracks is prevalent in such robots when it encounters the pipe turns. Thus, active control of each module's speed is employed to mitigate the slip, thereby requiring substantial control effort. The proposed pipe climber implements the 3-OOD to address this issue by allowing the robot to mechanically modulate the track speeds as it encounters a turn. The proposed 3-OOD is the first three-output differential to realize the functional abilities of a traditional two-output differential.</description><subject>Active control</subject><subject>Modules</subject><subject>Pipes</subject><subject>Robots</subject><issn>2331-8422</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>PIMPY</sourceid><recordid>eNqNyrsKwjAUgOEgCBbtOxxwLqQnvSi4VcUOUofuJeIpTYltzAVfXwcfwOkfvn_BIhQiTXYZ4orFzo2ccyxKzHMRscN1fgQtLdyUIai0et7JQl3X8FZ-gHawREkTvAkeGkMTHFXfk6XJK6k3bNlL7Sj-dc2251NbXRJj51cg57txDnb6UocFL7Nin6Yo_rs-zVc2uQ</recordid><startdate>20220108</startdate><enddate>20220108</enddate><creator>Vadapalli, Rama</creator><creator>Agarwal, Saharsh</creator><creator>Kumar, Vishnu</creator><creator>Suryavanshi, Kartik</creator><creator>Nagamanikandan</creator><creator>K Madhava Krishna</creator><general>Cornell University Library, arXiv.org</general><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>HCIFZ</scope><scope>L6V</scope><scope>M7S</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope></search><sort><creationdate>20220108</creationdate><title>Modular Pipe Climber III with Three-Output Open Differential</title><author>Vadapalli, Rama ; Agarwal, Saharsh ; Kumar, Vishnu ; Suryavanshi, Kartik ; Nagamanikandan ; K Madhava Krishna</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-proquest_journals_26074691123</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>Active control</topic><topic>Modules</topic><topic>Pipes</topic><topic>Robots</topic><toplevel>online_resources</toplevel><creatorcontrib>Vadapalli, Rama</creatorcontrib><creatorcontrib>Agarwal, Saharsh</creatorcontrib><creatorcontrib>Kumar, Vishnu</creatorcontrib><creatorcontrib>Suryavanshi, Kartik</creatorcontrib><creatorcontrib>Nagamanikandan</creatorcontrib><creatorcontrib>K Madhava Krishna</creatorcontrib><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science &amp; Engineering Collection</collection><collection>ProQuest Central (Alumni)</collection><collection>ProQuest Central</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Engineering Collection</collection><collection>Engineering Database</collection><collection>Publicly Available Content Database</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering collection</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Vadapalli, Rama</au><au>Agarwal, Saharsh</au><au>Kumar, Vishnu</au><au>Suryavanshi, Kartik</au><au>Nagamanikandan</au><au>K Madhava Krishna</au><format>book</format><genre>document</genre><ristype>GEN</ristype><atitle>Modular Pipe Climber III with Three-Output Open Differential</atitle><jtitle>arXiv.org</jtitle><date>2022-01-08</date><risdate>2022</risdate><eissn>2331-8422</eissn><abstract>The paper introduces the novel Modular Pipe Climber III with a Three-Output Open Differential (3-OOD) mechanism to eliminate slipping of the tracks due to the changing cross-sections of the pipe. This will be achieved in any orientation of the robot. Previous pipe climbers use three-wheel/track modules, each with an individual driving mechanism to achieve stable traversing. Slipping of tracks is prevalent in such robots when it encounters the pipe turns. Thus, active control of each module's speed is employed to mitigate the slip, thereby requiring substantial control effort. The proposed pipe climber implements the 3-OOD to address this issue by allowing the robot to mechanically modulate the track speeds as it encounters a turn. The proposed 3-OOD is the first three-output differential to realize the functional abilities of a traditional two-output differential.</abstract><cop>Ithaca</cop><pub>Cornell University Library, arXiv.org</pub><oa>free_for_read</oa></addata></record>
fulltext fulltext
identifier EISSN: 2331-8422
ispartof arXiv.org, 2022-01
issn 2331-8422
language eng
recordid cdi_proquest_journals_2607469112
source Publicly Available Content Database
subjects Active control
Modules
Pipes
Robots
title Modular Pipe Climber III with Three-Output Open Differential
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-19T12%3A25%3A22IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=document&rft.atitle=Modular%20Pipe%20Climber%20III%20with%20Three-Output%20Open%20Differential&rft.jtitle=arXiv.org&rft.au=Vadapalli,%20Rama&rft.date=2022-01-08&rft.eissn=2331-8422&rft_id=info:doi/&rft_dat=%3Cproquest%3E2607469112%3C/proquest%3E%3Cgrp_id%3Ecdi_FETCH-proquest_journals_26074691123%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_pqid=2607469112&rft_id=info:pmid/&rfr_iscdi=true