Design and Fabrication of Wall Cleaner Robot (Modelling and Hardware Design)



Lee, Jau Tyng (2017) Design and Fabrication of Wall Cleaner Robot (Modelling and Hardware Design). Final Year Project (Bachelor), Tunku Abdul Rahman University College.

[img] Text
Lee Jau Tyng Full text.pdf
Restricted to Registered users only

Download (5MB)


The wall climbing robot is widely used nowadays for different applications, such as inspection, paint-spraying, welding and so on. These robots able to move on various surfaces with they own adhesion method and locomotion mechanism. In this project, it aims to design and develop a wall climbing robot with the ability to do the transition between surfaces, which includes 90° transition and 270° transition. The hardware parts are designed with the consideration for wall climbing and cleaning purpose. Some overview of research about the wall climbing and wall cleaner robots is given in this project. Various locomotion and adhesion mechanisms of the wall climbing robot for different purposes are discussed comprehensively. For detail, a sandwiched-structure of robot is designed with obeying the rule of assembly. This design consists of three layers and jointed together to a transition shaft with the connector. This transition shaft works together with the bevel gear system to do the layer turning for transition purpose. To achieve the wall climbing purpose, the vacuum suction is applied to this design with the application of mini vacuum pump and the bellow suction cup to allow the suction can be apply on various surface, such as glasses, ferromagnetic, plastic and glasses. Beside simulation, the robot prototype is also designed, analyzed and developed by using the Solidworks software. The 3D printing technique is applied with the dimensions for part designs in Solidworks to fabricate the parts for hardware fabrication. Some kinematic analyses are carried out in motion analysis simulation in Solidworks to determine the requirement or the design of robot is able to perform desired motion on the surface. The main contributions of this project include some important elements: - A new concept of wall climbing robot is designed and developed with a simple structure with only the gear system and suction force to achieve motion for movement and transition. - The design, simulation, kinetic and motion analysis of the sandwiched-structured robot are carried out. - The hardware prototype is fabricated and analyzed for the factors that affect the real world function different from the simulation.

Item Type: Final Year Project
Subjects: Technology > Mechanical engineering and machinery > Robotics
Faculties: Faculty of Engineering and Built Environment > Bachelor of Engineering (Honours) Mechatronic
Depositing User: Library Staff
Date Deposited: 24 Sep 2019 09:24
Last Modified: 14 Apr 2022 01:58