COCrIP: Compliant OmniCrawler in-pipeline robot

Singh, Akash; Sachdeva, Enna; Sarkar, Abhishek; Krishna, K. Madhava

doi:10.1109/iros.2017.8206446

Cited by 12 publications

(5 citation statements)

References 12 publications

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“…The units have an approximate weight of 1.1 kg including batteries, and a total enclosure of 148 × 170 × 176 mm, as shown in Figure 8. The drive system direction of the units is sliding [21], with six independently rotating, non-steerable bearings [22]. The operation of the robot units is autonomous for up to 4 h, without requiring communication, control lines, or power supply.…”

Section: Numerical Experimentsmentioning

confidence: 99%

Robotics Navigation System for Mapping Underground Hydraulic Networks

Hernández-Santos

Rincón

Davizón³

et al. 2022

Machines

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This paper presents the model, design, and simulation for a navigation system developed for a group of mobile robots dedicated to the production of maps for underground hydraulic infrastructure. The system can operate internally in unknown pipeline networks without GPS support, integrating Tarry’s principles of deep search, Pledge modify discrimination, and topographic orientation transfer, in the temporary construction of a reference network independent of peripheral inertial navigation. The acquisition of topographic objectives for mapping is done by laser collimation and radio frequency synchronization with an angular and longitudinal precision of sigma II range. The maps produced contain the polygonal axes of the network pipelines.

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Section: Numerical Experimentsmentioning

confidence: 99%

Robotics Navigation System for Mapping Underground Hydraulic Networks

Hernández-Santos

Rincón

Davizón³

et al. 2022

Machines

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“…, where µ is the steering resistance coefficient (Song et al, 2008(Song et al, , 2009, m p the mass of the p-type velocity, and g the acceleration of gravity, it is noted that M pk and T pk are the steering resistance torque and the driving torque, respectively, of the k-type grounding point of track (1) of the p-type vehicle.…”

Section: Analysis Of Ideal Center-point Steering Motionmentioning

confidence: 99%

Center-point steering analysis of tracked omni-vehicles based on skid conditions

Fang¹,

Zhang²,

Shang³

et al. 2021

Mech. Sci.

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Abstract. Existing center-point steering models of a tracked omni-vehicle seldom consider the skid of the track (roller) grounding section, which is inconsistent with the actual steering process. In this study, for the three typical layout types, rectangular, hybrid, and centripetal, the steady center-point steering motion of a tracked omni-vehicle under skid conditions is analyzed and a correction model is investigated. The numerical solution of the absolute lateral offset of the steering pole is obtained, and the influences of various structural parameters on the numerical solution are discussed. The steering angular velocity reduction coefficient is calculated, and the angular velocity of vehicles is corrected. The simulation of center-point steering motion is carried out on eight virtual prototypes, and the center-point steering motion experiment is carried out on three physical prototypes. The results show that the established correction model is more in line with the steering reality of the tracked omni-vehicle, and it can play a role in correcting the center-point steering angular velocity.

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“…Wheeled and crawler devices have a long history of use [5,6] and have the advantage of reaching speeds that are higher than those employing other propulsion techniques. However, these types of devices not only require a mechanism to ensure continuous rotation, but also a mechanism that generates a propulsion force of friction by pushing wheels or crawlers to an inner wall of a piping [7][8][9][10], thereby increasing design complexity. Thus, for simplification, several researchers have adopted the use of a mechanical spring to push wheels or crawlers to an inner wall and generate friction [11][12][13].…”

Section: Objectivementioning

confidence: 99%

Development of a steerable in-pipe locomotive device with six braided tubes

Takeshima

Takayama

2018

Robomech J

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Numerous studies have developed in-pipe locomotive devices to inspect pipes. However, it is difficult to achieve selective locomotion in a branched piping system. In this study, a novel steerable in-pipe locomotive device is proposed based on "a six-braided-tubes locomotive device, " which is an in-pipe locomotive device that is actuated by only six pneumatic inflatable tubes. It is one of the simplest in-pipe locomotive devices that is capable of forward and backward motion and can rotate in clockwise and counterclockwise directions along a pipe, can select the desired pathway in the branched pipe. In this paper, we discuss the background of pipe inspection, classify previously developed in-pipe locomotive devices, and clarify the aim of this study. Additionally, we also describe and extend the locomotive principles of six-braided-tubes locomotive devices. Moreover, we propose a novel attachment, termed steering hook, to enable steering in various types of branched systems. Finally, we experimentally confirm that the novel proposed principle allows the device to correct path selection in an in-pipe branched piping system.

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COCrIP: Compliant OmniCrawler in-pipeline robot

Cited by 12 publications

References 12 publications

Robotics Navigation System for Mapping Underground Hydraulic Networks

Robotics Navigation System for Mapping Underground Hydraulic Networks

Center-point steering analysis of tracked omni-vehicles based on skid conditions

Development of a steerable in-pipe locomotive device with six braided tubes

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