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Robotic Platform for Internal Inspection

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dc.contributor.author Cope, Brian Alexander en_US
dc.date.accessioned 2013-02-19T22:44:24Z
dc.date.available 2013-02-19T22:44:24Z
dc.date.issued 2013-02-08 en_US
dc.identifier.other vt_gsexam:204 en_US
dc.identifier.uri http://hdl.handle.net/10919/19268
dc.description.abstract This thesis describes the design of a robotic inspection tool which is based on a differential track-drive platform. The robotic inspection tool is a one man-portable UGV that has been developed for the purpose of non-destructive evaluation (NDE) and internal inspection of environments where human penetration may be difficult or hazardous. Various NDE and sensing techniques are described in this paper but the focus is on the mechanical and electrical design of the platform itself. The platform is a versatile device for mobile robotics research and development that supports a wide variety of instrumentation and payloads. Variable height control of the payload is achieved with a scissor lift assembly that provides accurate positioning of equipped sensors and instrumentation. The architecture of the platform was designed to support future autonomous implementations. en_US
dc.format.medium ETD en_US
dc.publisher Virginia Tech en_US
dc.rights The authors of the theses and dissertations are the copyright owners. Virginia Tech's Digital Library and Archives has their permission to store and provide access to these works. en_US
dc.subject Mobile Robot en_US
dc.subject NDE Inspection en_US
dc.subject Internal Inspection en_US
dc.subject Robotic Crawler en_US
dc.title Robotic Platform for Internal Inspection en_US
dc.type Thesis en_US
dc.contributor.department Mechanical Engineering en_US
dc.description.degree MS en_US
thesis.degree.name MS en_US
thesis.degree.level masters en_US
thesis.degree.grantor Virginia Polytechnic Institute and State University en_US
thesis.degree.discipline Mechanical Engineering en_US
dc.contributor.committeechair Wicks, Alfred L en_US
dc.contributor.committeemember Southward, Steve C en_US
dc.contributor.committeemember Sandu, Corina en_US


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