モジュール式全方向クローラ管内登攀ロボットの設計と最適ばね剛性推定
Design and optimal springs stiffness estimation of a Modular OmniCrawler in-pipe climbing Robot
小径管内を走行するコンプライアントなモジュール式ロボットを設計し、4つのトーションバネの剛性を制約最適化で求め、シミュレーションと実機で検証した。
著者: Akash Singh, Enna Sachdeva, Abhishek Sarkar, K. Madhava Krishna
分類: cs.RO
原文アブストラクト
This paper discusses the design of a novel compliant in-pipe climbing modular robot for small diameter pipes. The robot consists of a kinematic chain of 3 OmniCrawler modules with a link connected in between 2 adjacent modules via compliant joints. While the tank-like crawler mechanism provides good traction on low friction surfaces, its circular cross-section makes it holonomic. The holonomic motion assists it to re-align in a direction to avoid obstacles during motion as well as overcome turns with a minimal energy posture. Additionally, the modularity enables it to negotiate T-junction without motion singularity. The compliance is realized using 4 torsion springs incorporated in joints joining 3 modules with 2 links. For a desirable pipe diameter (\text{\O} 75mm), the springs' stiffness values are obtained by formulating a constraint optimization problem which has been simulated in ADAMS MSC and further validated on a real robot prototype. In order to negotiate smooth vertical bends and friction coefficient variations in pipes, the design was later modified by replacing springs with series elastic actuators (SEA) at 2 of the 4 joints.
