Title: In-water surface cleaning robot: concept, locomotion and stability

Authors: Houssam Albitar; Anani Ananiev; Ivan Kalaykov

Addresses: Center for Applied Autonomous Sensor Systems (AASS), School of Science and Technology, Örebro University, 70182 Örebro, Sweden ' Center for Applied Autonomous Sensor Systems (AASS), School of Science and Technology, Örebro University, 70182 Örebro, Sweden ' Center for Applied Autonomous Sensor Systems (AASS), School of Science and Technology, Örebro University, 70182 Örebro, Sweden

Abstract: This paper introduces a new concept of flexible crawling mechanism in the design of industrial in-water cleaning robot, which is evaluated from the viewpoint of work and operation on an underwater surface. It enables the scanning and cleaning process performed by water jets, while keeping stable robot position on the surface by its capacity to bear and compensate the jet reactions. Such robotic platform can be used for cleaning and maintenance of various underwater surfaces, including moving ships in the open sea. The designed robot implements its motions by contraction and expansion of legged mechanism using standard motors and suction cups technology. In this study we focus at the conditions for achieving enough adhesion for keeping continuous contact between the robot and the surface and robot stability in different situations for the basic locomotions.

Keywords: underwater robots; crawling robots; underwater surface cleaning; surface cleaning robots; robot locomotion; robot stability; flexible robots; water jets; water jet cleaning; moving ships; robot design; suction cups; adhesion; legged locomotion.

DOI: 10.1504/IJMA.2014.062338

International Journal of Mechatronics and Automation, 2014 Vol.4 No.2, pp.104 - 115

Available online: 04 Jun 2014 *

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