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- Type of Document: M.Sc. Thesis
- Language: English
- Document No: 42657 (58)
- University: Sharif University of Technology, International Campus, Kish Island
- Department: Science and Engineering
- Advisor(s): Vossoughi, Gholamreza; Ghaemi Osgouie, Kambiz
- Abstract:
- Delivering high quality and clean air into occupied spaces is the main goal of Heating, Ventilation and Air Conditioning (HVAC) systems. HVAC systems draw supply air which usually contains fungi and moisture. Fungi and moisture plus organic materials create a good bed for mold growth. Studies prove that duct cleaning process can definitely reduce the amount of pollutants present in the ducts. Hence, it has positive impact on human lives both regarding psychological and physical points of view. Duct cleaning method’s application difficulties and ducts’ unreachable environments motivated duct cleaning firms to employ robots for duct cleaning tasks. Although there are considerable numbers of Duct Cleaning Robots (DCRs) available on the market, they are not dexterous enough to be widely used by the companies requiring this service. The main reason is that they are unable to maneuver in vertical ducts. This thesis focuses on designing a novel DCR which doesn’t have the limitations of current DCRs. First, a literature review on DCRs is presented in order to find their requirements and limitations. Additionally, a literature review on climbing robots is presented in order to find an appropriate structure serving as a DCR. By considering different duct conditions and DCRs requirements, a conceptual design of a climbing DCR (named as Duct-Sweeper) is proposed. Moreover, an optimization problem is formulated and solved to find the optimal robot geometry. The results of the optimization are used to design a prototype. Finally, different maneuvers and path plantings of the robot are discussed. Although the introduced robot is designed to serve as HVAC DCR, small changes to the adhesion system and wheeled locomotion system of the robot can make it suitable for industrial duct systems as well
- Keywords:
- Conceptual Design ; Optimization ; Climbing Robot ; Path Planning ; Rapid Prototyping ; Duct Cleaning Robot
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