Robotski sustavi za ispitivanje cjevovoda

undergraduate thesis

• Title (english): Robotics systems for pipeline inspection
• Author: Ivan Grgić
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-03-02, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

U sklopu rada obrađena je tema čiji je cilj olakšati ljudima prikupljanje informacija o trenutnom stanju cjevovoda prilikom ispitivanja te olakšati njegovo čišćenje. U radu je prikazan razvoj konstrukcijske izvedbe lokomotornog sustava robota za inspekciju unutarnjeg dijela cijevi. U uvodu je dan pregled postojeće tehnologije u području robota za inspekciju unutarnjeg promjera od 70 do 150 mm. Nakon toga dane su subjektivne ocjene svakog sustava. Napravljena je funkcijska struktura iz koje je uslijedila morfološka matrica. Iz morfološke matrice proizašla su tri koncepta koja su detaljno opisana te su predstavljene njihove prednosti i mane. Izabran je optimalan koncept te se s njim krenulo u daljnju razradu. Napravljen je proračun na osnovu pretpostavki iz kojeg je uslijedio izbor motora i oblikovanje CAD modela. Na kraju je dan zaključak donesen tijekom razvoja koncepta.

Abstract (english)

As part of this thesis, a topic, which goal is to make it easier for people to collect information about the current state of the pipeline during testing and to facilitate its cleaning, was covered. The thesis presents design development of a locomotive robotic system for inspecting the internal part of pipes. An overview of the existing technology in the field of robots for inspecting internal diameters of 70 to 150 mm is given in the introduction, followed by subjective evaluations of each system. A functional structure was then created, which led to a morphological matrix. Three concepts arose from the morphological matrix, which were described in detail along with their advantages and disadvantages. The optimal concept was selected and taken into further development. A calculation was made based on assumptions, which led to the selection of motor and formation of a CAD model. Finally, a conclusion made during the development of the concept was presented.

• Keywords: robot sa gusjenicama; inspekcija unutarnjeg dijela cijevi; lokomocija
• Keywords (english): WMD robot; in-pipe inspection; locomotion
• Language: croatian
• URN:NBN: urn:nbn:hr:235:268081
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2023-02-24 10:57:07