2-2D differential gear mechanism for robot moving inside pipelines

Kim, Ho Moon; Choi, Yun Seok; Mun, Hyeong Min; Yang, Seung Ung; Park, Chan Min; Choi, Hyouk Ryeol

doi:10.1109/iros.2015.7353515

Cited by 10 publications

(8 citation statements)

References 21 publications

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“…Three-output differentials have existed for over a decade and have predominantly been used in pipe climbing robots with three tracks or wheels [4,5,6,7]. One such differential, the multi-axle differential gear was implemented in the in-pipe robot MRIN-SPECT VI (Multifunctional Robotic crawler for In-pipe inspection VI) [5].…”

Section: Introductionmentioning

confidence: 99%

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Design And Analysis Of Three-Output Open Differential with 3-DOF

Vadapalli¹,

Govindan²,

Krishna³

2021

Preprint

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This paper presents a novel passive three-output differential with three degrees of freedom (3DOF), that translates motion and torque from a single input to three outputs. The proposed Three-Output Open Differential is designed such that its functioning is analogous to the functioning of a traditional two-output open differential. That is, the differential translates equal motion and torque to all its three outputs when the outputs are unconstrained or are subjected to equivalent load conditions. The introduced design is the first differential with three outputs to realise this outcome. The differential action between the three outputs is realised passively by a symmetric arrangement of three two-output open differentials and three two-input open differentials. The resulting differential mechanism achieves the novel result of equivalent input to output angular velocity and torque relations for all its three outputs. Furthermore, Three-Output Open Differential achieves the novel result for differentials with more than two outputs where each of its outputs shares equivalent angular velocity and torque relations with all the other outputs. The kinematics and dynamics of the Three-Output Open Differential are derived using the bond graph method. In addition, the merits of the differential mechanism along with its current and potential applications are presented.

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Section: Introductionmentioning

confidence: 99%

“…There exist four-output open differentials such as the 2-2D differential gear mechanism that translates equal motion to all its outputs when the outputs are under equivalent load conditions [6,7]. The 2-2D differential has four sets of planetary gears arranged in a series where its four outputs are the ring gears of each planetary gear.…”

Section: Introductionmentioning

confidence: 99%

Design And Analysis Of Three-Output Open Differential with 3-DOF

Vadapalli¹,

Govindan²,

Krishna³

2021

Preprint

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“…Furthermore, a robot with the ability to travel long distances is crucial for effective inspection. To date, we have developed pipeline inspection robots, called MRINSPECT series [18][19][20][21][22][23][24]. Among them is MRINSPECT VII+, a self-contained robot including batteries and a controller that can navigate autonomously in various pipeline elements.…”

Section: Introductionmentioning

confidence: 99%

Development of modularized in-pipe inspection robotic system: MRINSPECT VII+

Jang

Kim²,

Lee

et al. 2021

Robotica

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This paper presents a modularized autonomous pipeline inspection robot called MRINSPECT VII+, which we recently developed. MRINSPECT VII+ is aimed at inspect in-service urban gas pipelines with a diameter of 200 mm. The robot consists of five basic modules: driving, sensing, joint, and battery modules. For nondestructive testing (NDT), an NDT module can be added to the system. The driving module uses a multiaxial differential gear mechanism to provide traction forces to the robot. The sensor module recognizes the pipeline element using position-sensitive detector (PSD) sensors and a CCD camera. The control module contains a computing unit and manages the robot’s autonomous navigation. The battery module supplies power to the system. Each module is connected via backdrivable active joint modules, which provide flexibility while moving inside narrow pipelines. Additionally, the wireless communication module helps the system communicate with the ground station. We tested MRINSPECT VII+ in real pipeline environments and validated its feasibility successfully.

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“…To solve this problem, companies, universities, and research institutions have been working on a large number of self-mobile in-pipe inspection robots. The robot's movement can be roughly classified into legged type [1], peristaltic type [2], serpentine type [3], and infinite rotation type [4][5][6][7][8][9][10]. The legged-type robot walks in pipes while extending its legs against the inner wall.…”

Section: Introductionmentioning

confidence: 99%

Robotic Search and Rescue through In-Pipe Movement

Kakogawa¹,

Ma²

2020

Unmanned Robotic Systems and Applications

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So far, we have been engaged in the research and development of various kinds of robots that could be applied to in-pipe inspections that existing methods (screwdrive type, parallel multi-modular type, and articulated wheeled type) cannot perform. In this chapter, we categorized each in-pipe inspection robot depending on its configuration and structure, which includes the design of the propulsive mechanism, steering mechanism, stretching mechanism, and the locations of the wheel and joint axes. On the basis of this classification and from a developer's point of view, we also discussed the various kinds of robots that we have developed, along with their advantages and disadvantages.

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2-2D differential gear mechanism for robot moving inside pipelines

Cited by 10 publications

References 21 publications

Design And Analysis Of Three-Output Open Differential with 3-DOF

Design And Analysis Of Three-Output Open Differential with 3-DOF

Development of modularized in-pipe inspection robotic system: MRINSPECT VII+

Robotic Search and Rescue through In-Pipe Movement

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