2026-09-19T21:27:09Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1278972021-07-05T14:03:20Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Douglas Hart.
Morgan, Harith.
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2020-10-08T21:29:21Z
2020-10-08T21:29:21Z
2020
2020
https://hdl.handle.net/1721.1/127897
1197626698
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, May, 2020
Cataloged from the official PDF of thesis.
Includes bibliographical references (page 27).
Marine biofoul accrues on ship hulls and increases the resistance of a ship during voyage. This is a widespread issue within the shipping an industry -- which supports the vast majority of global trade. To address this problem, we are developing Bio-Inspired HullCrawler -- an autonomous robot capable of cleaning ship hulls while a ship is underway. The novelty of our design centers on the bio-inspired suction cups that are cast as composite silicon elastomer. The purpose of this thesis is to look specifically at the lateral force resistance of elastomeric suction cup mechanisms. Here we propose new design concepts for the attachment system to improve on the drag force resistance of the HullCrawler device.
by Harith Morgan.
S.B.
S.B. Massachusetts Institute of Technology, Department of Mechanical Engineering
27 pages
eng
Massachusetts Institute of Technology
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.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Design of a mechanism to increase lateral force resistance of an autonomous ship hull cleaning robot
Thesis
application/pdf
2020-10-08T21:29:20Z
Publication
Bachelor
MechE
unknown
unknown
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<Abstract>Marine biofoul accrues on ship hulls and increases the resistance of a ship during voyage. This is a widespread issue within the shipping an industry -- which supports the vast majority of global trade. To address this problem, we are developing Bio-Inspired HullCrawler -- an autonomous robot capable of cleaning ship hulls while a ship is underway. The novelty of our design centers on the bio-inspired suction cups that are cast as composite silicon elastomer. The purpose of this thesis is to look specifically at the lateral force resistance of elastomeric suction cup mechanisms. Here we propose new design concepts for the attachment system to improve on the drag force resistance of the HullCrawler device.</Abstract>
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