TABLE OF CONTENT
Abstrak i
Abstract ii
Dedication iii
Acknowledgement iv
Table of Content v
List of Tables viii
List of Figures ix
List of Abbreviations, Symbols and Nomenclatures xi
CHAPTER 1: INTRODUCTION 1
1.1 Background
1 1.2
Motivation 2
1.3 Problem Statement
2 1.4
Objectives 2
1.5 Scope
3 1.6
Project Structure 3
CHAPTER 2: LITERATURE REVIEW 5
2.1 Mobile Robot
5 2.1.1 Classifications of Mobile Robot
6 2.1.2 Types of Mobile Robot Navigation
9 2.2
Mobile Robot Mechanism 9
2.2.1 Mobile Robot Platform 9
2.2.2 Manipulator Arm 10
2.2.3 End-effector 10
2.3 Maintenance
11 2.3.1 Importance of Maintenance in Manufacturing
11 2.4
Mobile Robot for Maintenance 11
2.4.1 Applications of Mobile Robot for Maintenance 12
2.4.1.1 Nuclear Industry 12
v
2.4.1.2 Highways 13
2.4.1.3 Railways 13
2.4.1.4 Power Line Maintenance 13
2.4.1.5 Aircraft Servicing 14
2.4.1.6 Underwater Facilities 14
2.4.1.7 Coke Ovens 14
2.4.2 Advantages of Mobile Robot for Maintenance 14
2.4.3 Mobile Robot for Maintenance in Manufacturing Environment 15
2.5 Summary
15
CHAPTER 3: METHODOLOGY 16
3.1 Gantt Chart
16 3.2
Overall Methodology 19
3.3 Literature Review
20 3.4
Project Planning 21
3.4.1 Generate Basic Ideas 22
3.4.2 Identify Requirements 23
3.4.3 Establish Concept 23
3.5 Mobile Robot Design
23 3.5.1 Concepts Generation
24 3.5.2 Concept Development
26 3.6
Analysis 26
3.6.1 Software Selection 27
3.6.2 Experimental Setup 28
3.6.3 Experimental Procedures 28
3.6.4 Data Collection 29
3.6.5 Data Analysis 29
3.7 Expected Result
29 3.7
Summary 29
CHAPTER 4: DESIGN DEVELOPMENT 31
4.1 Concept Generation
31 4.1.1 MOMAC SM 200 Conventional Lathe Machine
32 vi
4.2 Concept Development
35 4.2.1 Parts and Components
35 4.2.1.1 Mobile Robot Platform
36 4.2.1.2 Manipulator Arm
41 4.2.1.3 End-effector
43 4.2.2 Assembly
46 4.2.2.1 Designs of Mobile Robot Mechanism
46 4.3
Design tools 50
4.4 Summary
50
CHAPTER 5: ANALYSIS 52
5.1 Software Selection
52 5.2
Motion Analysis 52
5.2.1 Experiment 1 53
5.2.1.1 Movement 1 53
5.2.1.2 Movement 2 56
5.2.1.3 Discussion for Experiment 1 60
5.2.2 Experiment 2 61
5.2.2.1 Results 61
5.2.2.2 Discussion for Experiment 2 64
5.3 Finite Element Analysis
64 5.3.1 One tool attached
65 5.3.2 Two tools attached
69 5.3.3 Discussion for FEA
71 5.4
Summary 71
CHAPTER 6: CONCLUSION FUTURE WORK 72
