Development of A Pipe Inspection Robot in A Plant

• Main Authors: Lu, Chao-Pei, 陸朝霈
• Other Authors: Han-Pang Huang
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/94517633605475355576

碩士 === 國立臺灣大學 === 機械工程學系研究所 === 86 === A new pipe inspection robot with GUI control panel (NTU — Navigator) is developed in this thesis. The NTU — Navigator is light-weight, modular, easy to manipulate and easy to repair. The robot can be easily controlled by using the GUI on PC. The modular design concept is also used in designing this robot. It can be divided into four modules and each module has its independent control circuit. The steering method inside the U-shaped pipe is developed on the basis of fuzzy set theory. Different paramets are used as the input variables and the steering angle is the output variable. The inference engi ne consists of three modes. Under various modes, the deflection of the ro bot inside the pipe can be examined from the simulation program.