| Author: | Jiang, Zhiyi |
| Title: | Design of a hybrid pipeline climbing robot and its IMU-based trajectory reconstruction |
| Advisors: | Chu, Henry (ME) |
| Degree: | M.Sc. |
| Year: | 2021 |
| Subject: | Robotics Hong Kong Polytechnic University -- Dissertations |
| Department: | Department of Mechanical Engineering |
| Pages: | xiii, 136 pages : color illustrations |
| Language: | English |
| Abstract: | Pipelines and rails play important roles in both industrial arear and our daily life, regular inspection and maintenance are thus indispensable to make sure they are able to work in their best circumstance. While current measurement and inspection are still conducted by labor or converted mobile robot, which is poor in adaptability and low in efficiency as the measured data usually need to be manually recorded. Based on the above mentioned problems, this paper developed a novel hybrid pneumatic pipeline and rail climbing robot. With reference to applications of soft materials, this robot uses pre-prepared silicone gel to mold its main body for tube adhesion. And the driving module is designed as a pneumatic propeller-gearbox combined structure so as to ensure ideal traveling speed with small volume and weight. The module is 3D-printed with PLA, ABS, and Nylon. The whole robot is connected to a black-box air pressure control terminal based on electro-magnet proportional valves, and the air-supply could be provided by portable tire inflator to ensure portability. In consideration of portability and cost-effectiveness, we chose a portable IMU module to obtain its kinetic data. And in order to conduct measurement, a shape-trajectory reconstruction algorithm is developed. The cross-sectional shape changes and the three-dimensional trajectory of an arbitrary-shaped pipe or rail could be visually reconstructed via this algorithm, as well as some glaring flaws such as cracks or pits. |
| Rights: | All rights reserved |
| Access: | restricted access |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 5931.pdf | For All Users (off-campus access for PolyU Staff & Students only) | 19.57 MB | Adobe PDF | View/Open |
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