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Мехатроника, автоматизация, управление

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Particularities of Wall Climbing Robot Motion on Underwater Environments

https://doi.org/10.17587/mau.19.608-611

Полный текст:

Аннотация

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.

Об авторах

V. G. Gradetsky
Institute for Problems in Mechanics of the Russian Academy of Sciences
Россия

D. Sc., Professor, Chief Researcher



M. M. Knyazkov
Institute for Problems in Mechanics of the Russian Academy of Sciences
Россия


E. A. Semenov
Institute for Problems in Mechanics of the Russian Academy of Sciences
Россия


A. N. Sukhanov
Institute for Problems in Mechanics of the Russian Academy of Sciences
Россия


V. G. Chashchukhin
Institute for Problems in Mechanics of the Russian Academy of Sciences
Россия


Список литературы

1. Gradetsky V. G., Rachkov M. Y. Wall Climbing Robots, Moscow, The Institute for Problems in Mechanics RAS, 1997, pp. 223.

2. 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.

3. 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.

4. 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.

5. 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.

6. 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.

7. 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.


Для цитирования:


Gradetsky V.G., Knyazkov M.M., Semenov E.A., Sukhanov A.N., Chashchukhin V.G. Particularities of Wall Climbing Robot Motion on Underwater Environments. Мехатроника, автоматизация, управление. 2018;19(9):608-611. https://doi.org/10.17587/mau.19.608-611

For citation:


Gradetsky V.G., Knyazkov M.M., Semenov E.A., Sukhanov A.N., Chashchukhin V.G. Particularities of Wall Climbing Robot Motion on Underwater Environments. Mekhatronika, Avtomatizatsiya, Upravlenie. 2018;19(9):608-611. https://doi.org/10.17587/mau.19.608-611

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ISSN 1684-6427 (Print)
ISSN 2619-1253 (Online)