Pipe Climbing Robot

TL;DR

This paper introduces a novel in-pipe climbing robot utilizing a Three-Output Open Differential (3-OOD) to effectively navigate complex pipe networks without slipping or dragging, improving stability and control.

Contribution

The paper presents the design and implementation of a 3-OOD component for pipe climbing robots, enabling precise track speed adjustments without active control, a first in this context.

Findings

Successful navigation through complex pipe twists and directions

Elimination of slip and drag during movement

Effective simulation results demonstrating robustness

Abstract

This paper presents the plan of an in-pipe climbing robot that works utilizing a novel Three-Output Open Differential(3-OOD) component to navigate complex organizations of lines. Customary wheeled/followed in-pipe climbing robots are inclined to slip and haul while navigating in pipe twists. The 3-OOD component helps in accomplishing the original aftereffect of wiping out slip and drag in the robot tracks during movement. The proposed differential understands the practical capacities of the customary two-yield differential, which is accomplished the initial time for a differential with three results. The 3-OOD component precisely tweaks the track rates of the robot in light of the powers applied on each track inside the line organization, by wiping out the requirement for any dynamic control. The recreation of the robot crossing in the line network in various directions and in pipe-twists without slip shows the proposed plan's adequacy