Development of a robot moving in pipes | |
| Author | Nguyen Cong Chien |
| Call Number | AIT Thesis no.ISE-05-38 |
| Subject(s) | Robots--Control systems Robots--Motion |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-05-38 |
| Abstract | The purpose of this research is to develop and design a robot moving in pipes such as: the changing diameter, the horizontal, the vertical, and the elbow, T-shape pipes. The designed robot mechanism is combined of three modules: the tail is for keeping the robot in the pipe, the body is for main movement and the head is for steering ability. Next, a pneumatic cylinder and stepper motor are selected as actuations and then the corresponding control systems are designed as opened loop control and closed loop on/off controller. The electrical circuits are designed and built for control the robot and communication between robot with the microcontroller PIC 16F877 and the personal computer as well. At the end, the experiments are done in the lab to evaluate the robot's performance. The result shows that the designed robot can successfully move in the horizontal, vertical, elbow pipes and having the steer ability. The operator can communicate with the robot by sending commands from personal computer. |
| Year | 2005 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-05-38 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V. ;Pisut Koomsap; |
| Scholarship Donor(s) | Petrol Vietnam Cooperation; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2005 |