A Wheeled V-shaped In-Pipe Robot with Clutched Underactuated Joints
Yoshimichi Oka Atsushi Kakogawa Shugen Ma Yoshimichi Oka Atsushi Kakogawa Shugen Ma
This paper presents a wheeled V-shaped in-pipe robot in which the two outputs of the wheel shaft and roll joint are driven solely by a single actuator input. This underactuation is generated by a simple miter gear mechanism. Generally, to control two movements easily, one of the outputs of the underactuated mechanism is constrained by the resilience force of springs or by the friction force. Howev...