Abstract
Combining high-rise robotics research and polyurethane (PU) repair techniques presents new opportunities and unique challenges for utility pipe maintenance. Aiming at solving the complex pose alignment issue of robots and control PU curing, this paper automates the repair process by assembling protective jackets with PU foam. A wire-hoisted robot was equipped with anchors and a twin-gripper mechanism for workspace definition, along with a manipulator that positioned a pair of mirrored end effectors to perform surface polishing, jacket installation, and PU curing onto the pipe. Consequently, the robot pose was stabilized. The jacket pair was assembled onto the pipe with high precision, yielding high-quality repair, a success rate >96%, short cycle time, and low material wastage. This research may inspire innovative automation approaches for building maintenance, while utility companies can deploy the robot system for sustainable pipe service life.
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