Towards Design & Development of a Mobile Robot for Nuclear Power Plant Applications
Volume 7 Issue 2 2013
Download| Author(s): | Hafiz Waqar Ahmed, Abdul Rehman Abbasi, Nasir Rehman |
|---|---|
| Abstract | For operation of nuclear facilities in general, and nuclear power plants in particular, it is difficult or next to impossible to access & monitor (high) radiation areas where some emergency/abnormal condition has to be detected or mitigated. Presence of a mobile surveillance robot will be very useful for such a scenario. This work is an effort towards the development of a mobile robot that is intended to be used for remote surveillance. As a first step towards development of the mechanical carrier, a four DOF (degree of freedom ) articulated robotic arm, and mobile base is developed. All joints of the manipulator are revolute joints. DC motors have been used to empower the joints w ith the help of gears. Spur gear and planetary gear head have been used to increase the torque at joints and to reduce the speed. Complete mechanical designing in software, casting procedures and fabrication are the main parts of this prototype. |
| Keywords | Inverted Pendulum, Fuzy Logie, Fuzzy-PID, Comparison, Matlab. |
| Year | 2013 |
| Volume | 7 |
| Issue | 2 |
| Type | Research paper, manuscript, article |
| Journal Name | Journal of Information & Communication Technology | Publisher Name | ILMA University | Jel Classification | - | DOI | - | ISSN no (E, Electronic) | 2075-7239 | ISSN no (P, Print) | 2415-0169 | Country | Pakistan | City | Karachi | Institution Type | University | Journal Type | Open Access | Manuscript Processing | Blind Peer Reviewed | Format | Paper Link | https://jict.ilmauniversity.edu.pk/journal/jict/7.2/4.pdf | Page | 25-31 |