Improvement of Small Underwater Cleaning Robot

• Main Authors: YOU-SHENG CHENG, 鄭友昇
• Other Authors: Yih-Lin Cheng
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/60468217122881636893

碩士 === 國立臺灣科技大學 === 機械工程系 === 98 === In the recent years, the developments of underwater cleaning robots are less than those working on land. The existing underwater cleaning robots are mainly focused on wide-range cleaning with large sizes, which are not suitable for certain small-region cleanings such as household and aquarium fish tanks. Therefore, this study attempted to reduce the volume of underwater cleaning robot and to improve its maneuverability in order to meet more underwater cleaning demands. There are two designs in this study. The main difference between the two is the method for moving—one using wheels, and the other using propellers. Both designs utilized rotors as the attachment device to attach the robot to the wall and started to wipe the wall by cleaning devices. The section of the propellers used was based on NACA4412 shape, and the proper design parameters were obtained after underwater tests with motors. The Design 1 applied three types of sensors to assist robot controls, while the Design 2 implemented two control modes, manual or preset-path, for switching. As for the structure, the Design 1 adopted compact design to integrate attachment, moving, cleaning and control units in a whole. However, the Design 2 modularized above units for easier repair or replacement. The 3D CAD software was used to design robot’s outer shell, components, and the required molds. Rapid prototyping techniques were utilized to generate parts and molds for robot prototypes. Finally, the robot prototypes were assembled and underwater tested. The results showed that the Design 1 with leaking problem at the wheel axles resulted in unbalance of the robot and introduced control issues. On the other hand, the Design 2, with the small size of 158x143x87 mm, could achieve cleaning efficiency and agileness in the manual mode