Design and analysis of a flexible tendon-driven joint for in-pipe inspection robots
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2014
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| Online Access: | http://hdl.handle.net/1721.1/83682 |
| _version_ | 1826213758800756736 |
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| author | Al Hasan, Hisham H |
| author2 | Kamal Youcef-Toumi. |
| author_facet | Kamal Youcef-Toumi. Al Hasan, Hisham H |
| author_sort | Al Hasan, Hisham H |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013. |
| first_indexed | 2024-09-23T15:54:21Z |
| format | Thesis |
| id | mit-1721.1/83682 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T15:54:21Z |
| publishDate | 2014 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/836822019-04-12T20:55:39Z Design and analysis of a flexible tendon-driven joint for in-pipe inspection robots Al Hasan, Hisham H Kamal Youcef-Toumi. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering. Mechanical Engineering. Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013. Cataloged from PDF version of thesis. Includes bibliographical references (pages 53-54). Leaks in water distribution pipelines result in potentially significant losses of water resources and energy. The detection of such leaks is crucial for effective water resource management. In-pipe robots equipped with sensing devices are high potential solutions for accurate, efficient, and inexpensive leak detection. This work discusses the design, prototyping, and analysis of a tendon-driven flexible robotic joint that connects the sub-modules of an in-pipe snake-like robot. A simple, robust, well-sealed, and waterproof joint design is proposed. It enables the robot to handle complex pipeline geometry as it inspects the pipeline network during active hours. The joint designed has two degrees of freedom that enable the robotic platform to maneuver in 3 dimensions regardless of its roll orientation. Experiments were conducted to obtain the mechanical properties of the flexible joint and to confirm its functionality. The results of which are presented and discussed. by Hisham H. Al Hasan. S.B. 2014-01-09T19:44:31Z 2014-01-09T19:44:31Z 2013 Thesis http://hdl.handle.net/1721.1/83682 863155898 eng 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. http://dspace.mit.edu/handle/1721.1/7582 54 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Al Hasan, Hisham H Design and analysis of a flexible tendon-driven joint for in-pipe inspection robots |
| title | Design and analysis of a flexible tendon-driven joint for in-pipe inspection robots |
| title_full | Design and analysis of a flexible tendon-driven joint for in-pipe inspection robots |
| title_fullStr | Design and analysis of a flexible tendon-driven joint for in-pipe inspection robots |
| title_full_unstemmed | Design and analysis of a flexible tendon-driven joint for in-pipe inspection robots |
| title_short | Design and analysis of a flexible tendon-driven joint for in-pipe inspection robots |
| title_sort | design and analysis of a flexible tendon driven joint for in pipe inspection robots |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/83682 |
| work_keys_str_mv | AT alhasanhishamh designandanalysisofaflexibletendondrivenjointforinpipeinspectionrobots |