Source files and documentation for: Design and Construction of an Omnidirectional Mobile Robot for Air Leak Detection

This repository provides all the necessary documentation and source files to reproduce an open-source omnidirectional mobile robot designed for automated air leak detection in industrial piping.

The system utilizes a three-wheel omnidirectional kinematic configuration constructed with modular TETRIX components, allowing for precise movement (lateral, diagonal, and rotation) necessary to follow complex pipe trajectories. The hardware is centered around the NI MyRIO-1900 control platform, integrating acoustic MAX4466 modules for leak localization and ultrasonic/infrared sensors for autonomous navigation.

Repository Contents:
- CAD Models: Editable 3D files of the mobile base and the custom-designed end-effector mechanism.
- Control Code: LabVIEW project files containing the control algorithms for the DC motors with encoders and sensor data processing, including extensive code comments.
- Schematics: Wiring diagrams and component connection maps for the MyRIO and H-bridge drivers.
- Documentation: A comprehensive Bill of Materials (BOM) with costs and sourcing information.

Hardware Requirements:
- Control Unit: National Instruments MyRIO-1900.
- Actuators: TETRIX® MAX TorqueNADO® Motor
- Mechanical Frame: TETRIX MAX Programmable Robotics Set
- Sensors: MAX4466 Microphones, Ultrasonic distance sensors, and Infrared proximity sensors.

Software Dependencies:
- LabVIEW 2019 and NI-RIO drivers.
- Autodesk Fusion 360.