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An Experimental Investigation, Design, and Build of Adhesion System of the Ship Hull Cleaner Robot

Shahrami, Mehdi | 2021

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 54067 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Khorasanchi, Mahdi; Durali, Mohammad
  7. Abstract:
  8. Today, the cleaning and moss removal of the hulls of ships is very important due to the strict and international laws of reducing pollutants and the exorbitant cost of fuel of the country's navy. The advantages of cleaning the hull of vessels are reduced fuel consumption, increased ship speed and longer hull life. Traditionally, the hulls are cleaned by divers, and in recent years the use of crawling robots has been welcomed by the industry because of its benefits. This important thing in Iran is still done by divers and therefore the need for indigenous development of such robots in the country is felt.In the present study, the aim is to design and build a reliance system for the ship's hull cleaning robot using experimental studies and numerical simulations. Methods of support for this type of robot include magnetic adhesion system (permanent, electric), thruster system (impeller) and suction system (suction pads). At first, extensive research has been done on the types of adhesion systems of this type of robot and then, according to the efficiency of this type of robot and other factors involved, a permanent magnetic adhesion system has been selected. Adhesion system optimization was performed in laboratory and experimental tests and then the causes of optimal performance of the optimal system were evaluated using ANSYS magnetostatic software. One of the important design parameters in this type of adhesive system is air gap and any amount of this gap is more than the adhesion level, the amount of adhesion force will decrease, which in numerical simulation, has shown how the adhesion force changes according to different distances. In the next step, the static forces, including the buoyancy force, are calculated in the case of a submerged robot, and then the torques and dynamic forces applied to the robot by water are investigated in ANSYS fluent software. Finally, according to these forces, the minimum amount of adhesion force in different positions of the robot on the hull was obtained and the successful performance of the robot in real conditions on the hull was evaluated
  9. Keywords:
  10. Design and Construction ; Numerical Modeling ; Experimental Test ; Adhesion ; Air Gap Formation ; ANSYS Software ; Ship Hull Cleaning Robot

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