Design and fabrication of a maneuverable robot for in-pipe leak detection
Name
895870114-MIT.pdf
Description
Full printable version
Size
16.23 MB
Format
Adobe PDF
Checksum (MD5)
865b9c576ff9842c87c8ce91d7e34b8c
Author(s)
Wu, You, S.M. Massachusetts Institute of Technology
Advisor(s)
Kamal Youcef-Toumi.
Date Issued
2014
Publisher
Massachusetts Institute of Technology
Abstract
Leaks in pipelines have been causing a significant amount of financial losses and serious damages to the community and the environment. The recent development of in-pipe leak detection technologies at Massachusetts Institute of Technology made it possible to find the accurate location of leaks in underground pipes. However, like all in-pipe leak sensors, they need a maneuverable robot to transport them inside the pipes. In the pipe networks, the robot must be able to perform complicated movements such as sharp turns at Tee junctions. This thesis presents a solution to this in-pipe leak detection challenge and the design and a prototype of such robot. The design and fabrication of a small in-pipe swimming robot of high maneuverability is presented. The robot is equipped with a pair of customized micro RIM driven propellers which provide a powerful and safe propulsion. A prototype robot that operates in 10 cm diameter pipes is built and tested experimentally. This robot demonstrated experimentally abilities to follow straight lines and make turns with radii smaller than a fraction of its body length.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 115-116).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
Persistent DSpace Link
