This project involved the design, construction, and testing of magnetic wheels for use on a mobile robotic platform developed for the laser welding of oil and gas pipelines. The current process is a dull, dirty, and dangerous job that can easily be delegated to an enhanced process with the use of a mobile robot. The goal of the project was to experimentally validate a scalable magnetic wheel design for use on a mobile robot platform. This involved researching and testing various types and configurations of magnets for use in magnetic wheels, constructing test fixtures, modifying a test chassis, as well as developing a control algorithm to accurately track the weld seam and traverse the pipe.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Mello, Brad Clayton
• Sawatzki, Sarah Rose
• Baruffi, Frederick Anthony
• McNally, Taylor Cole

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-050114-120146

Advisor

• Padir, Taskin

Year

• 2014

Sponsor

• IPG Photonics

Date created

• 2014-05-01

Resource type

• Major Qualifying Project

Major

• Mechanical Engineering
• Robotics Engineering

Rights statement

• In Copyright