Design and mechanical analysis of wall-climbing ROV adsorption structure

Xuqing Liu; Jie Yu; Xinzhu Li; Changqin Chen; Xiao Chen; Xin Deng

doi:10.54097/ehjvqj32

Authors

Xuqing Liu
Jie Yu
Xinzhu Li
Changqin Chen
Xiao Chen
Xin Deng

DOI:

https://doi.org/10.54097/ehjvqj32

Keywords:

ROV, Wheeled walking mechanism, Wall-climbing, Mechanical analysis, Electromagnet

Abstract

This paper studies the design and reliability of a wheeled walking structure based on electromagnets for remotely operated underwater vehicles (ROV). First, the walking structure is based on the traditional wheeled structure and combined with electromagnet adsorption technology. It has the advantages of high adsorption reliability, controllable adsorption strength, and convenient separation from the magnetic wall. In addition, the safety of the designed structure in different adjacent states is mechanically analyzed to obtain the minimum feasible adsorption force. At the same time, the influence of the current input of the electromagnet on the adsorption capacity is explored through simulation. Finally, a set of mechanical experiments are conducted to verify the effectiveness of the design scheme and obtain a set of feasible design schemes.

Downloads

Download data is not yet available.

References

[1] Dalhatu A A, Azevedo R, Udebhulu O D, et al. RECENT DEVELOPMENTS OF REMOTELY OPERATED VEHICLE IN THE OIL AND GAS INDUSTRY[J]. Holos, 2021, 3.

[2] Mazzeo A, Aguzzi J, Calisti M, et al. Marine robotics for deep-sea specimen collection: A systematic review of underwater grippers[J]. Sensors, 2022, 22(2): 648.

[3] Song Y, Wang Z, Li Y, et al. Electrostatic attraction caused by triboelectrification in climbing geckos[J]. Friction, 2022, 10: 44-53.

[4] Santos H B, Teixeira M A S, Dalmedico N, et al. Model predictive torque control for velocity tracking of a four-wheeled climbing robot[J]. Sensors, 2020, 20(24): 7059.

[5] Enjikalayil Abdulkader R, Veerajagadheswar P, Htet Lin N, et al. Sparrow: A magnetic climbing robot for autonomous thickness measurement in ship hull maintenance[J]. Journal of Marine Science and Engineering, 2020, 8(6): 469.

[6] Rezazadegan F, Shojaei K, Sheikholeslam F, et al. A novel approach to 6-DOF adaptive trajectory tracking control of an AUV in the presence of parameter uncertainties[J]. Ocean Engineering, 2015, 107: 246-258.

[7] Do K D, Pan J, Jiang Z P. Robust and adaptive path following for underactuated autonomous underwater vehicles[J]. Ocean Engineering, 2004, 31(16): 1967-1997.

[8] Yoerger D, Slotine J. Robust trajectory control of underwater vehicles[J]. IEEE journal of Oceanic Engineering, 1985, 10(4): 462-470.

[9] Tong S, Li Y. Observer-based fuzzy adaptive control for strict-feedback nonlinear systems[J]. Fuzzy sets and systems, 2009, 160(12): 1749-1764.

[10] Yuh J, Lakshmi R. An intelligent control system for remotely operated vehicles[J]. IEEE Journal of Oceanic Engineering, 1993, 18(1): 55-62.