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dc.contributor.authorCope, Brian Alexanderen_US
dc.date.accessioned2013-02-19T22:44:24Z
dc.date.available2013-02-19T22:44:24Z
dc.date.issued2013-02-08en_US
dc.identifier.othervt_gsexam:204en_US
dc.identifier.urihttp://hdl.handle.net/10919/19268
dc.description.abstractThis 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.mediumETDen_US
dc.publisherVirginia Techen_US
dc.rightsThe 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.subjectMobile Roboten_US
dc.subjectNDE Inspectionen_US
dc.subjectInternal Inspectionen_US
dc.subjectRobotic Crawleren_US
dc.titleRobotic Platform for Internal Inspectionen_US
dc.typeThesisen_US
dc.contributor.departmentMechanical Engineeringen_US
dc.description.degreeMSen_US
thesis.degree.nameMSen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineMechanical Engineeringen_US
dc.contributor.committeechairWicks, Alfred Len_US
dc.contributor.committeememberSouthward, Steve Cen_US
dc.contributor.committeememberSandu, Corinaen_US


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