Omnidirectional Tractable Three Module Robot

TL;DR

This paper presents a novel omnidirectional three-module robot designed for navigating complex pipe networks, featuring holonomic motion, a kinematic model, and strategies to avoid motion singularities during T-junctions.

Contribution

The paper introduces a new robot design with holonomic motion capabilities, a closed-form kinematic model, and a method to avoid motion singularities in pipe navigation.

Findings

Successful simulation of robot motion in MSC ADAMS

Experimental validation on physical robot prototype

Effective avoidance of motion singularities during T-junctions

Abstract

This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their own axis allowing holonomic motion of the robot. The holonomic motion enables the robot to overcome motion singularity when negotiating T-junctions and further allows the robot to arrive in a preferred orientation while taking turns inside a pipe. We have developed a closed-form kinematic model for the robot in the paper and propose the Motion Singularity Region that the robot needs to avoid while negotiating T-junction. The design and motion capabilities of the robot are demonstrated both by conducting simulations in MSC ADAMS on a simplified lumped-model of the robot and with experiments on its physical embodiment.