Faculty Advisor

Padir, Taskin

Abstract

This project involved the design, construction, and testing of magnetic wheels for use on a mobile robotic platform developed for the laser welding of oil and gas pipelines. The current process is a dull, dirty, and dangerous job that can easily be delegated to an enhanced process with the use of a mobile robot. The goal of the project was to experimentally validate a scalable magnetic wheel design for use on a mobile robot platform. This involved researching and testing various types and configurations of magnets for use in magnetic wheels, constructing test fixtures, modifying a test chassis, as well as developing a control algorithm to accurately track the weld seam and traverse the pipe.

Publisher

Worcester Polytechnic Institute

Date Accepted

May 2014

Major

Mechanical Engineering

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Electrical and Computer Engineering

Share

COinS