Development Of Linkage Mechanism For In-Pipe Robot
Pipeline inspection works has been done by human to observe and identify any leakage especially in industrial plant, chemical, natural gas and oil rig. This job environment is the most dangerous and high possibility to give hazard for workers in short or long term effect. To encounter this pro...
| Main Author: | |
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| Format: | Monograph |
| Language: | English |
| Published: |
Universiti Sains Malaysia
2019
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| Online Access: | http://eprints.usm.my/58305/ http://eprints.usm.my/58305/1/Development%20Of%20Linkage%20Mechanism%20For%20In-Pipe%20Robot.pdf |
| _version_ | 1848883863720296448 |
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| author | Megat, Nik Muhammad Ashraf Che |
| author_facet | Megat, Nik Muhammad Ashraf Che |
| author_sort | Megat, Nik Muhammad Ashraf Che |
| building | USM Institutional Repository |
| collection | Online Access |
| description | Pipeline inspection works has been done by human to observe and identify
any leakage especially in industrial plant, chemical, natural gas and oil rig. This job
environment is the most dangerous and high possibility to give hazard for workers in
short or long term effect. To encounter this problem, in-pipe inspection robot has
been introduced to replace the job and evolved to offer better performance compared
with manual inspection. The purpose of this project is to design a in-pipe robot which
is capable to move in the pipe and turning in stable condition in the pipe junction
with various diameter in the market and industry. The design of robot including the
mechanism on how to turn in the corner of the pipe and the area of contact for the
robot to keep stable while moving through the pipeline. To make the robot mobile in
the pipeline, control system is implemented in the robot’s body to rotate the wheels
by using Arduino UNO as a “brain” that transmit electrical supply to locomotion of
the robot. After conducting experiment, robot is observed can make turn in the pipe
junction and make good mobility in straight pipe. However, suitable material
selection at the ball wheels will give different effect towards grip performance on
pipe wall. Thus, the suitable material is coating the rubber on ball wheels to ensure
better gripping performance. This project can give contribution on the robot’s
mechanism to passing through the juction of pipe. |
| first_indexed | 2025-11-15T18:57:34Z |
| format | Monograph |
| id | usm-58305 |
| institution | Universiti Sains Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T18:57:34Z |
| publishDate | 2019 |
| publisher | Universiti Sains Malaysia |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | usm-583052023-04-30T07:18:51Z http://eprints.usm.my/58305/ Development Of Linkage Mechanism For In-Pipe Robot Megat, Nik Muhammad Ashraf Che T Technology (General) TJ Mechanical engineering and machinery Pipeline inspection works has been done by human to observe and identify any leakage especially in industrial plant, chemical, natural gas and oil rig. This job environment is the most dangerous and high possibility to give hazard for workers in short or long term effect. To encounter this problem, in-pipe inspection robot has been introduced to replace the job and evolved to offer better performance compared with manual inspection. The purpose of this project is to design a in-pipe robot which is capable to move in the pipe and turning in stable condition in the pipe junction with various diameter in the market and industry. The design of robot including the mechanism on how to turn in the corner of the pipe and the area of contact for the robot to keep stable while moving through the pipeline. To make the robot mobile in the pipeline, control system is implemented in the robot’s body to rotate the wheels by using Arduino UNO as a “brain” that transmit electrical supply to locomotion of the robot. After conducting experiment, robot is observed can make turn in the pipe junction and make good mobility in straight pipe. However, suitable material selection at the ball wheels will give different effect towards grip performance on pipe wall. Thus, the suitable material is coating the rubber on ball wheels to ensure better gripping performance. This project can give contribution on the robot’s mechanism to passing through the juction of pipe. Universiti Sains Malaysia 2019-05-01 Monograph NonPeerReviewed application/pdf en http://eprints.usm.my/58305/1/Development%20Of%20Linkage%20Mechanism%20For%20In-Pipe%20Robot.pdf Megat, Nik Muhammad Ashraf Che (2019) Development Of Linkage Mechanism For In-Pipe Robot. Project Report. Universiti Sains Malaysia, Pusat Pengajian Kejuruteraan Mekanik. (Submitted) |
| spellingShingle | T Technology (General) TJ Mechanical engineering and machinery Megat, Nik Muhammad Ashraf Che Development Of Linkage Mechanism For In-Pipe Robot |
| title | Development Of Linkage Mechanism For In-Pipe Robot |
| title_full | Development Of Linkage Mechanism For In-Pipe Robot |
| title_fullStr | Development Of Linkage Mechanism For In-Pipe Robot |
| title_full_unstemmed | Development Of Linkage Mechanism For In-Pipe Robot |
| title_short | Development Of Linkage Mechanism For In-Pipe Robot |
| title_sort | development of linkage mechanism for in-pipe robot |
| topic | T Technology (General) TJ Mechanical engineering and machinery |
| url | http://eprints.usm.my/58305/ http://eprints.usm.my/58305/1/Development%20Of%20Linkage%20Mechanism%20For%20In-Pipe%20Robot.pdf |