Mobilní robot pro inspekci automobilových podvozků

Abstract

The master thesis is dealing with the design of a mobile robot for car chassis inspection. First, an initial analysis was conducted, where commercially available systems or systems with similar service task were analysed. Next, RGB and RGBD cameras, sensors for hazardous substance detection, sensors for obstacle detection, DC motors, ground clearances of different classes of cars, service environments and materials suitable for 3D printing prototypes were analysed. Based on the initial analysis and the master thesis assignment, a requirement list was established. The thesis further deals with the design of three variants of the robot locomotion system and the selection of the winning variant. Once the final variant was selected, the mechanical and hardware components of the robot were designed. The motion and control of the resulting designed robot was verified through simulation in two simulation scenes. Images of the CAD model of the robot, electronics wiring diagram, calculations, drawings and simulation scenes are included in the appendix of the thesis.