Design of a robotic water-pipe rehabilitation
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, June, 2019
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2020
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| Online Access: | https://hdl.handle.net/1721.1/128333 |
| _version_ | 1826189174237036544 |
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| author | Yeung, Yip Fun. |
| author2 | Kamal Youcef-Toumi. |
| author_facet | Kamal Youcef-Toumi. Yeung, Yip Fun. |
| author_sort | Yeung, Yip Fun. |
| collection | MIT |
| description | Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, June, 2019 |
| first_indexed | 2024-09-23T08:10:40Z |
| format | Thesis |
| id | mit-1721.1/128333 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T08:10:40Z |
| publishDate | 2020 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1283332020-11-04T03:37:14Z Design of a robotic water-pipe rehabilitation Yeung, Yip Fun. Kamal Youcef-Toumi. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering Mechanical Engineering. 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). 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. by Yip Fun Yeung. S.M. S.M. Massachusetts Institute of Technology, Department of Mechanical Engineering 2020-11-03T20:31:25Z 2020-11-03T20:31:25Z 2019 2019 Thesis https://hdl.handle.net/1721.1/128333 1201692450 eng 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 89 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Yeung, Yip Fun. Design of a robotic water-pipe rehabilitation |
| title | Design of a robotic water-pipe rehabilitation |
| title_full | Design of a robotic water-pipe rehabilitation |
| title_fullStr | Design of a robotic water-pipe rehabilitation |
| title_full_unstemmed | Design of a robotic water-pipe rehabilitation |
| title_short | Design of a robotic water-pipe rehabilitation |
| title_sort | design of a robotic water pipe rehabilitation |
| topic | Mechanical Engineering. |
| url | https://hdl.handle.net/1721.1/128333 |
| work_keys_str_mv | AT yeungyipfun designofaroboticwaterpiperehabilitation |