Design of a robot for in-pipe inspectionusing omnidirectional wheels

Abstract

This thesis presents the design and realization of a system for moving in small diameter pipes. For this the assignment continues on the omniwheel prototype of the PIRATE project, which uses a propulsion mechanism using omnidirectional wheels (or omniwheels), which allows direct control of the orientation of the robot in the pipe. For the design, the system is split up into the omniwheels, the joint mechanism, the clamping mechanism and the skeleton. For each of these parts multiple design options are investigated and compared in order to pick the best option. For the design of the omniwheels this turned out to be a custom 3D printed design, for the design of the joint mechanism a mechanism based on four spur gears and for the design of the clamping mechanism an active clamping mechanism based on the mechanism of the other PIRATE prototypes. The skeleton has been designed such that all of these design choices fit together. Finally, the design has been realized and control has been implemented in order to test and evaluate the design.