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首页> 外文期刊>Ocean Engineering >Innovative design of an underwater cleaning robot with a two arm manipulator for hull cleaning
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Innovative design of an underwater cleaning robot with a two arm manipulator for hull cleaning

机译：带有两个臂式清洁机械手的水下清洁机器人的创新设计

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The fouling is a major problem that occurs to the ship's hull. This phenomenon causes severe economic and ecological consequences of shipping activities. Therefore, several robotic solutions were developed to mitigate fouling problem and to robotize hull-cleaning process. However, the existing solutions are either slow remotely operated vehicles or fast - but non-transportable - cleaning station equipped with manipulator's arms.In this paper, we aim to combine the transportability of the remotely operated vehicle solution and the cleaning efficiency offered by the use of arm manipulators. Hence, we present an innovative design of an underwater ship hull-cleaning robot called ARMROV by attaching two-manipulator arms to a remotely operated vehicle. However, in this new design, the robot central part is subject to dynamic stability issues during the cleaning operation that are caused by coupling forces between arms and the central part. In order to evaluate perturbations on the center part of the ARMROV, the kinematic and the dynamic model of the manipulator's arms were developed performed using Khalil-Kleffinger and Newton-Euler methods respectively. The dynamic stability during the hull cleaning operation was studied and checked using dynamic equivalence approach. Simulations results proved the efficiency of the stability approach and the feasibility of the proposed solution.In conclusion, the suggested design represents a promising stable and efficient solution for hull underwater cleaning.
机译：污垢是船船体发生的主要问题。这种现象导致运输活动的严重经济和生态后果。因此，开发了几种机器人解决方案以减轻污垢问题并对机器化船体清洁过程进行降低。但是，现有的解决方案是慢速操作车辆或快速但不可运输的 - 清洁站，配备有机械手的武器。本文旨在将远程操作的车辆解决方案的可运输性及供应所提供的清洁效率结合起来臂式操纵器。因此，我们通过将双控器臂连接到远程操作的车辆，提出了一种名为ARMROV的水下船船体清洁机器人的创新设计。然而，在这种新设计中，机器人中央部分在清洁操作期间受到动态稳定性问题，该清洁操作是由臂和中心部分之间的耦合力引起的。为了评估扶手椅的中心部分的扰动，使用Khalil-Kleffinger和Newton-Euler方法开发了操纵器臂的运动和动态模型。使用动态等价方法研究并检查了船体清洁操作期间的动态稳定性。仿真结果证明了稳定方法的效率和所提出的解决方案的可行性。在结论中，建议的设计代表了对船体水下清洁的有希望的稳定和有效的解决方案。

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