Publication: Development of gantry radial arm robotic system for corrosiun inspection on wall reactor tank TRIGA
Date
2020-09
Authors
Ahmad Shaqirin Asri
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Abstract
This thesis will focus on the design and upgrade existing scanner of gantry radial arm
robotic system for corrosion inspection on wall reactor tank. The scanner design for
under water inspection environment verification. This inspection can be performed by
using ultrasonic C-scan that will be design on this project. This gantry radial arm system
is a modular design that allows upgrading, easily matching dimensional, kinematic and
technique related specification. The gantry radial arm system is expected to be userfriendly.
The system was used to design the prototype of the gantry radial arm is by
using the SolidWorks Software. Most of the components are made from aluminium
which is much sturdy and low cost. Meanwhile for the rod holder system, it was uses
spring mechanism to prevent rod from bending when it moves down into the water.
From the result, the design system is safe to use as it has been proved by simulation and
calculation. At the end of the process, the results obtained does follow the objectives of
the project.
Description
Interim sem 2020 / 2021
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Full final thesis