Omnidirectional Tractable Three Module Robot

Suryavanshi, Kartik; Vadapalli, Rama; Vucha, Ruchitha; Sarkar, Abhishek; Krishna, K. Madhava

doi:10.48550/arxiv.1909.10277

Cited by 1 publication

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“…In addition to using differential mechanisms, differential speed can be realised by electronically controlling the speeds of each wheel. Our previously developed robots, the Modular Pipe Climber I and II predefined the speeds for each track in accordance to the bends of the pipe [10,11,12]. Other pipe climbing robots such as MRINSPECT IV and LS-01 have also used similar methods in modulating speeds [13,14].…”

Section: Introductionmentioning

confidence: 99%

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

Vadapalli¹,

Govindan²,

Krishna³

2021

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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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