Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor | Department of Mechanical Engineering | en_US |
| dc.contributor.advisor | Chu, Henry (ME) | en_US |
| dc.creator | Jiang, Zhiyi | - |
| dc.identifier.uri | https://theses.lib.polyu.edu.hk/handle/200/11484 | - |
| dc.language | English | en_US |
| dc.publisher | Hong Kong Polytechnic University | en_US |
| dc.rights | All rights reserved | en_US |
| dc.title | Design of a hybrid pipeline climbing robot and its IMU-based trajectory reconstruction | en_US |
| dcterms.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. | en_US |
| dcterms.extent | xiii, 136 pages : color illustrations | en_US |
| dcterms.isPartOf | PolyU Electronic Theses | en_US |
| dcterms.issued | 2021 | en_US |
| dcterms.educationalLevel | M.Sc. | en_US |
| dcterms.educationalLevel | All Master | en_US |
| dcterms.LCSH | Robotics | en_US |
| dcterms.LCSH | Hong Kong Polytechnic University -- Dissertations | en_US |
| dcterms.accessRights | restricted access | en_US |
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 |
Copyright Undertaking
As a bona fide Library user, I declare that:
- I will abide by the rules and legal ordinances governing copyright regarding the use of the Database.
- I will use the Database for the purpose of my research or private study only and not for circulation or further reproduction or any other purpose.
- I agree to indemnify and hold the University harmless from and against any loss, damage, cost, liability or expenses arising from copyright infringement or unauthorized usage.
By downloading any item(s) listed above, you acknowledge that you have read and understood the copyright undertaking as stated above, and agree to be bound by all of its terms.
Please use this identifier to cite or link to this item:
https://theses.lib.polyu.edu.hk/handle/200/11484