Omnidirectional Three Module Robot Design and Simulation

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 axis allowing holonomic motion of the robot. 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. The singularity region while negotiating T-junctions is analyzed to formulate the geometry of the region. The design and motion capabilities are validated by conducting simulations in MSC ADAMS on a simplified lumped-model of the robot.