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Design and development of automatic NGV natural gas vehicle refuelling robot / Mohd Noorshahril Yaakob

This project paper is aimed to plan and develop an automatic robot for an application of refueling the natural gas vehicle (NGV) with main focus on its trajectory analysis. A KUKA KR16 L6-2 KS robotic arm is chosen to model the kinematics and motion to perform the task, simulated using KUKA SimPr...

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Main Author: Mohd Noorshahril, Yaakob
Format: Thesis
Published: 2013
Subjects:
T Technology (General)
TJ Mechanical engineering and machinery
Online Access:http://studentsrepo.um.edu.my/8211/1/Design_%26_Development_of_Automatic_NGV_Refueling_Robot_%2D_UM_%2D_KGZ110004_(Final_Submission).pdf
http://studentsrepo.um.edu.my/8211/
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spelling my.um.stud.82112018-04-28T04:47:58Z Design and development of automatic NGV natural gas vehicle refuelling robot / Mohd Noorshahril Yaakob Mohd Noorshahril, Yaakob T Technology (General) TJ Mechanical engineering and machinery This project paper is aimed to plan and develop an automatic robot for an application of refueling the natural gas vehicle (NGV) with main focus on its trajectory analysis. A KUKA KR16 L6-2 KS robotic arm is chosen to model the kinematics and motion to perform the task, simulated using KUKA SimPro software, taking advantage of its off-line programming capabilities. Two case studies were investigated in the process of modeling, taking into account on the position of fuel filling valve on the vehicle, whether it is horizontally-placed or vertically-placed, where six and five movement points are pre-defined respectively. Also, the point of interests for each case study, namely the end-effector point and the fuel filling point, are pre-defined based on feasible and actual environment. All the points are used for programming by applying the point-to-point (PTP) motion to be loaded into the KR C2 controller. The transformation matrices are derived at each point and also for total robot motion using the forward kinematics approach beside representing the kinematics of each robot joint using Denavit-Hartenberg approach. The angles of each joint at each movement points are calculated using the inverse kinematics approach to provide the significant boundary conditions for determining the overall rotational motion of the robot. Furthermore, the angles calculated are mapped for the robot trajectories at given time using third-order polynomial trajectory planning to give the extended view of the robot orientation and behavior in order to perform the simple task of vehicle refueling. 2013-02-16 Thesis NonPeerReviewed application/pdf http://studentsrepo.um.edu.my/8211/1/Design_%26_Development_of_Automatic_NGV_Refueling_Robot_%2D_UM_%2D_KGZ110004_(Final_Submission).pdf Mohd Noorshahril, Yaakob (2013) Design and development of automatic NGV natural gas vehicle refuelling robot / Mohd Noorshahril Yaakob. Masters thesis, University of Malaya. http://studentsrepo.um.edu.my/8211/
institution Universiti Malaya
building UM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaya
content_source UM Student Repository
url_provider http://studentsrepo.um.edu.my/
topic T Technology (General)
TJ Mechanical engineering and machinery
spellingShingle T Technology (General)
TJ Mechanical engineering and machinery
Mohd Noorshahril, Yaakob
Design and development of automatic NGV natural gas vehicle refuelling robot / Mohd Noorshahril Yaakob
description This project paper is aimed to plan and develop an automatic robot for an application of refueling the natural gas vehicle (NGV) with main focus on its trajectory analysis. A KUKA KR16 L6-2 KS robotic arm is chosen to model the kinematics and motion to perform the task, simulated using KUKA SimPro software, taking advantage of its off-line programming capabilities. Two case studies were investigated in the process of modeling, taking into account on the position of fuel filling valve on the vehicle, whether it is horizontally-placed or vertically-placed, where six and five movement points are pre-defined respectively. Also, the point of interests for each case study, namely the end-effector point and the fuel filling point, are pre-defined based on feasible and actual environment. All the points are used for programming by applying the point-to-point (PTP) motion to be loaded into the KR C2 controller. The transformation matrices are derived at each point and also for total robot motion using the forward kinematics approach beside representing the kinematics of each robot joint using Denavit-Hartenberg approach. The angles of each joint at each movement points are calculated using the inverse kinematics approach to provide the significant boundary conditions for determining the overall rotational motion of the robot. Furthermore, the angles calculated are mapped for the robot trajectories at given time using third-order polynomial trajectory planning to give the extended view of the robot orientation and behavior in order to perform the simple task of vehicle refueling.
format Thesis
author Mohd Noorshahril, Yaakob
author_facet Mohd Noorshahril, Yaakob
author_sort Mohd Noorshahril, Yaakob
title Design and development of automatic NGV natural gas vehicle refuelling robot / Mohd Noorshahril Yaakob
title_short Design and development of automatic NGV natural gas vehicle refuelling robot / Mohd Noorshahril Yaakob
title_full Design and development of automatic NGV natural gas vehicle refuelling robot / Mohd Noorshahril Yaakob
title_fullStr Design and development of automatic NGV natural gas vehicle refuelling robot / Mohd Noorshahril Yaakob
title_full_unstemmed Design and development of automatic NGV natural gas vehicle refuelling robot / Mohd Noorshahril Yaakob
title_sort design and development of automatic ngv natural gas vehicle refuelling robot / mohd noorshahril yaakob
publishDate 2013
url http://studentsrepo.um.edu.my/8211/1/Design_%26_Development_of_Automatic_NGV_Refueling_Robot_%2D_UM_%2D_KGZ110004_(Final_Submission).pdf
http://studentsrepo.um.edu.my/8211/
_version_ 1738506113865744384
score 13.211869

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