Design, Structural and Kinematic Analysis of Reconfigurable Sewage Cleaning Robot

摘要

Congested sewage system causes many health related problem, since every work activity bring sewage workers into contact with perilous and toxic substances while removing the clogs occurring in the system. The major illness includes not just associated the relatively mild case of gastroenteritis, but also the potentially fatal diseases such as leptospirosis and hepatitis. The aim of the project is to implement a robot to remove the choke in the sewage system at low cost and to completely eliminate the human engagement for this task. A robot of that nature could also be used in critical places where human workers cannot be employed to remove the clog because of physical limitations. An improved design incorporating the improvisations learnt from earlier versions of the developed robots is to be attempted in this project work. The performance of this robot is analyzed through multi body dynamics after incorporating the robot into the work environment. After finalizing the design through the analysis, the robot would be fabricated. Finally the evaluation of the robot performance in real-time would be performed through experimental tests. The control mode would be semi-autonomous initially and then would be made completely autonomous. For convenience, the robot can also be operated manually from outside the sewage system based on the environment and requirement.