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Mekhatronika, Avtomatizatsiya, Upravlenie, 2018, vol. 19, no. 9, pp. 608611
DOI: 10.17587/mau.19.608-611


V. G. Gradetsky, M. M. Knyazkov, E. A. Semenov, A. N. Sukhanov, V. G. Chashchukhin,
Institute for Problems in Mechanics of the Russian Academy of Sciences, Moscow, 119526, Russian Federation, e-mail: gradet@ipmnet.ru, www.ipmnet.ru

Particularities of Wall Climbing Robot Motion on Underwater Environments

Corresponding auther: Gradetsky V. G., D. Sc., Professor, Chief Researcher, Institute for Problems in Mechanics of the Russian Academy of Sciences, Moscow, 119526, Russian Federation, e-mail: gradet@ipmnet.ru

Accepted on June 05, 2018

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 "gas-water" 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.
Keywords: underwater environment, wall climbing robot, vacuum contact devices, gas water ejector, recommendations for design

P. 608611

Acknowledgements: This study was supported by the Russian Foundation for Basic Research Grant 18-08-00357

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