Design of a robotic water-pipe rehabilitation
Name
1201692450-MIT.pdf
Size
12.45 MB
Format
Adobe PDF
Checksum (MD5)
955bf14caca1f0c2e453acd508e20340
Author(s)
Yeung, Yip Fun.
Advisor(s)
Kamal Youcef-Toumi.
Date Issued
2019
Publisher
Massachusetts Institute of Technology
Abstract
Corrosion in water pipeline causes leak and forms tubercle at the vicinity of leaks. Various in-pipe robots have been developed in recent years for locomotion and inspection along the pipeline. Not much focus is put on in-pipe operations such as pipe maintenance and rehabilitation. This thesis presents an in-pipe robotic system for minimal particle contamination obstruction removal operation of corroded water pipes. It proposes a robotic system with a Manipulation Module and a Compliant Surface Adaptation Module. The Manipulation Module contains a 4-Degree of Freedom robotic manipulator that is able to remove tubercle in 102mm diameter pipes. The Compliant Surface Adaptation Module contains optimized designs to enclose a watertight volume on a macroscopically rough surface. This robotic platform is the first in-pipe robot designated to rehabilitate water pipe with minimal contamination.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, June, 2019
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 87-89).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.
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