Title :
Control and driving of a robot for underwater ship hull operation
Author :
Roznowski, Grzegorz ; Kowalczuk, Zdzislaw ; Raczynski, Pawel
Author_Institution :
Fac. of Mech. Eng., Tech. Univ. Gdansk, Poland
Abstract :
The paper describes a robot system for underwater cleaning and maintenance of ship hulls, drilling platforms or floating docks. It works under water and it is gripped to the steel surface of a hull using the power of magnetic attraction. Its control and hydraulic drives systems are presented in this paper.
Keywords :
drives; hydraulic control equipment; industrial robots; maintenance engineering; ships; surface cleaning; cleaning process; drilling platform; floating dock; hydraulic drive; magnetic gripper; maintenance process; robot control; ship hull; steel surface; underwater operation; Cleaning; Control systems; Drilling; Engines; Gears; Magnetic heads; Marine vehicles; Mobile robots; Steel; Wheels;
Conference_Titel :
CAD Systems in Microelectronics, 2001. CADSM 2001. Proceedings of the 6th International Conference. The Experience of Designing and Application of
Conference_Location :
Lviv-Slavsko, Ukraine
Print_ISBN :
966-553-079-8
DOI :
10.1109/CADSM.2001.975800
