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.
Worcester Polytechnic Institute
Major Qualifying Project
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Electrical and Computer Engineering