novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.19.608-611novtexmech-512Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSParticularities of Wall Climbing Robot Motion on Underwater EnvironmentsParticularities of Wall Climbing Robot Motion on Underwater EnvironmentsGradetskyV. G.GradetskyV. G.

D. Sc., Professor, Chief Researcher

D. Sc., Professor, Chief Researcher

gradet@ipmnet.ruKnyazkovM. M.KnyazkovM. M.SemenovE. A.SemenovE. A.SukhanovA. N.SukhanovA. N.ChashchukhinV. G.ChashchukhinV. G.Institute for Problems in Mechanics of the Russian Academy of SciencesРоссияInstitute for Problems in Mechanics of the Russian Academy of SciencesRussian Federation201811102018199608611Copyright © Commercial Publisher «New Technologies», 20182018Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/512

The paper presents peculiarities of some components of wall climbing robots intended for motion along underwater surfaces and performs underwater technologies. Recommendations for design of vacuum contact devices equipped with "gaswater" ejector are analysed. The information data preparation for modelling and simulation the vacuum contact devices are needed to find required parameters. The obtained hydromechanical characteristics permit to prepare wall climbing robot for realization some underwater technologies.Vacuum contact devices are intended for produce gripping functions with underwater horizontal or sloping surfaces over which underwater wall climbing robots are moving.In motion process one platform can move when other platform is connected with surfaces by means vacuum contact devices. Another words, when external group of vacuum contact devices is fixed to the surface, internal one can move with the platform, and so on.Underwater wall climbing robots consists of internal and external platforms equipped with vacuum contact devices placed on the end of every leg. Sensory system includes a video camera that is used for robot navigation and orientation, proximity sensors for fixation final positions of pneumatic drives and pressure-vacuum sensors intended for measure forces inside of vacuum contact devices.Technological equipment is installed on the upper platform. Suggested experimental robot prototype has control system that permit to organize automatic or supervision control with participation of man-operator.The drive design provides both the continuous low velocity mode to fulfill technological operations by the robot, and the discrete high velocity mode. The discrete high velocity mode is convenient for the transportation of technological equipment to working area.This paper includes following sections: prescribed tasks for underwater wall climbing robot technologies, main peculiarities of the robot, vacuum contact devices study and conclusion.

The paper presents peculiarities of some components of wall climbing robots intended for motion along underwater surfaces and performs underwater technologies. Recommendations for design of vacuum contact devices equipped with "gaswater" ejector are analysed. The information data preparation for modelling and simulation the vacuum contact devices are needed to find required parameters. The obtained hydromechanical characteristics permit to prepare wall climbing robot for realization some underwater technologies.Vacuum contact devices are intended for produce gripping functions with underwater horizontal or sloping surfaces over which underwater wall climbing robots are moving.In motion process one platform can move when other platform is connected with surfaces by means vacuum contact devices. Another words, when external group of vacuum contact devices is fixed to the surface, internal one can move with the platform, and so on.Underwater wall climbing robots consists of internal and external platforms equipped with vacuum contact devices placed on the end of every leg. Sensory system includes a video camera that is used for robot navigation and orientation, proximity sensors for fixation final positions of pneumatic drives and pressure-vacuum sensors intended for measure forces inside of vacuum contact devices.Technological equipment is installed on the upper platform. Suggested experimental robot prototype has control system that permit to organize automatic or supervision control with participation of man-operator.The drive design provides both the continuous low velocity mode to fulfill technological operations by the robot, and the discrete high velocity mode. The discrete high velocity mode is convenient for the transportation of technological equipment to working area.This paper includes following sections: prescribed tasks for underwater wall climbing robot technologies, main peculiarities of the robot, vacuum contact devices study and conclusion.

underwater environmentwall climbing robotvacuum contact devicesgas water ejectorrecommendations for designunderwater environmentwall climbing robotvacuum contact devicesgas water ejectorrecommendations for designReferencesGradetsky V. G., Rachkov M. Y. Wall Climbing Robots, Moscow, The Institute for Problems in Mechanics RAS, 1997, pp. 223.Gradetsky V. G., Rachkov M. Y. Wall Climbing Robots, Moscow, The Institute for Problems in Mechanics RAS, 1997, pp. 223.Tariq P. Sattar, Paul Hilton, MDDMAR Faruq Howlader, Deployment of Laser Cutting Head with Wall Climbing Robot for Nuclear Decomissioning. Proceed of CLAWAR 2016 Inter. Conference, Advance in Cooperative Robotics, London, UK, Sept. 2016, pp. 725—732.Tariq P. Sattar, Paul Hilton, MDDMAR Faruq Howlader, Deployment of Laser Cutting Head with Wall Climbing Robot for Nuclear Decomissioning. Proceed of CLAWAR 2016 Inter. Conference, Advance in Cooperative Robotics, London, UK, Sept. 2016, pp. 725—732.Zhao Z., Shirkoohi G. Climbing Robot Design for NDT Inspection. Proceed of CLAWAR 2017 Inter. Conference, Human — Centric Robotics, Porto, Partugal, Sept. 2017, pp. 259—266.Zhao Z., Shirkoohi G. Climbing Robot Design for NDT Inspection. Proceed of CLAWAR 2017 Inter. Conference, Human — Centric Robotics, Porto, Partugal, Sept. 2017, pp. 259—266.Gradetsky V., Veshnikov V., Kalinichenko S. 1995, Multilinks Walking Robot. Proc. 7th International Conf. on Advanced Robotics, ICAR’95. Sant Feliu de Guixols, September 1995, Vol. 1, pp. 401—405.Gradetsky V., Veshnikov V., Kalinichenko S. 1995, Multilinks Walking Robot. Proc. 7th International Conf. on Advanced Robotics, ICAR’95. Sant Feliu de Guixols, September 1995, Vol. 1, pp. 401—405.Robotics in Nuclear Facilities, 1991, Special issue for Exhibition of the 11th International Conference on Structural Mechanics in Reactor Technology (SMiRT 11), Tokyo, August 1991, pp. 25—28.Robotics in Nuclear Facilities, 1991, Special issue for Exhibition of the 11th International Conference on Structural Mechanics in Reactor Technology (SMiRT 11), Tokyo, August 1991, pp. 25—28.Gradetsky V., Knyazkov M., Sukhanov A., Semenov E., Chashchukhin V., Kryukova A. 2017, Possibility of Using Wall Climbing Robots for Underwater Application. Proceed. of CLAWAR-2017 Intern. Conference, Human-Centric Robotics, Porto, Portugal, Sept. 2017, pp. 239—246.Gradetsky V., Knyazkov M., Sukhanov A., Semenov E., Chashchukhin V., Kryukova A. 2017, Possibility of Using Wall Climbing Robots for Underwater Application. Proceed. of CLAWAR-2017 Intern. Conference, Human-Centric Robotics, Porto, Portugal, Sept. 2017, pp. 239—246.Kozlov D., Pavlov A., Yaschuk V. The Mathematical Model of the Gas-Liquid Ejector with the Straight Mixing Chamber. Izvestia of Volgograd State Technical University, pp. 8—11.Kozlov D., Pavlov A., Yaschuk V. The Mathematical Model of the Gas-Liquid Ejector with the Straight Mixing Chamber. Izvestia of Volgograd State Technical University, pp. 8—11.

The authors declare that there are no conflicts of interest present.