Publicação
Mechanical design for robotic inspection: robot for corrosion mapping
| Resumo: | The development of an autonomous robotic platform for NDT focusing on corrosion mapping on ferromagnetic cylindrical surfaces is performed in this dissertation. The main goal of this research is to develop a mobile robotic system that improves the efficiency, accuracy, and repeatability of corrosion inspections while reducing operation downtime and human exposure to hazardous environments. A thorough review is done to examine the state of the art necessary for defining the status and relevance of the development of robotic inspection systems. This will be instructive in knowing the capabilities and limitations of the existing technologies to justify the proposed solution. The review covers NDT techniques, robotic systems, and the developments in locomotion and adhesion mechanisms contributing to the robot design. The conceptual project (chapter 3) covers the design methodology followed for the robotic platform. Different locomotion and adhesion methods have been analyzed to select the best configuration for this mobile system. A four-mecanum wheel system is chosen to increase mobility, and magnetic adhesion ensures stability both on vertical and inclined surfaces, which is necessary for operating on cylindrical structures. The CAD model of the robot and the system modeling were developed to validate the choices made in the conceptual project and to verify whether these choices were correct for its kinematic and dynamic behavior. This way, it is possible to detect potential issues that need to be addressed. The work concludes with the development of a simple functional robot with basic, non-complex movements; thus, the system allows for further iterations that add more advanced features, providing ample room for improvements to be made in the future. |
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| Autores principais: | Leiras, Diogo José da Silva |
| Assunto: | Corrosion mapping Mechanical design Mobile robot Non-destructive testing Robotics Mapeamento de corrosão Projeto mecânico Robô móvel Inspeção não-destrutiva Robótica Engenharia e Tecnologia::Engenharia Mecânica |
| Ano: | 2025 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade do Minho |
| Idioma: | inglês |
| Origem: | RepositóriUM - Universidade do Minho |
| Resumo: | The development of an autonomous robotic platform for NDT focusing on corrosion mapping on ferromagnetic cylindrical surfaces is performed in this dissertation. The main goal of this research is to develop a mobile robotic system that improves the efficiency, accuracy, and repeatability of corrosion inspections while reducing operation downtime and human exposure to hazardous environments. A thorough review is done to examine the state of the art necessary for defining the status and relevance of the development of robotic inspection systems. This will be instructive in knowing the capabilities and limitations of the existing technologies to justify the proposed solution. The review covers NDT techniques, robotic systems, and the developments in locomotion and adhesion mechanisms contributing to the robot design. The conceptual project (chapter 3) covers the design methodology followed for the robotic platform. Different locomotion and adhesion methods have been analyzed to select the best configuration for this mobile system. A four-mecanum wheel system is chosen to increase mobility, and magnetic adhesion ensures stability both on vertical and inclined surfaces, which is necessary for operating on cylindrical structures. The CAD model of the robot and the system modeling were developed to validate the choices made in the conceptual project and to verify whether these choices were correct for its kinematic and dynamic behavior. This way, it is possible to detect potential issues that need to be addressed. The work concludes with the development of a simple functional robot with basic, non-complex movements; thus, the system allows for further iterations that add more advanced features, providing ample room for improvements to be made in the future. |
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