碩士 / 國立臺灣科技大學 / 機械工程系 / 96 / Nowadays the underwater cleaning of the exhibition glass walls in aquariums or large fish tanks is mainly done by manual work. There is no maneuverable underwater cleaning robot for this purpose. Although there exits robots for ship rust removal by magnetic attachment, their volume and weight are too huge and they are not able to attach to non-metallic surfaces such as glass. Therefore, there is a need for meso-scale underwater cleaning robots.
This research developed a meso-scale underwater cleaning robot prototype with dimensions of 186 mm*186 mm*123 mm. It contained propulsion units, attachment device, cleaning module, and control circuits. The design of the attachment device utilized the thrust of propellers for attachment. These propellers are not only for attachment purpose during cleaning, but also part of propulsion units for maneuvering. The 3D propeller was based on NACA4412 airfoil. CFD softwares were used to simulate the propeller and the shape of robot. Integrated with motor control circuits and program of single chips, the robot can maneuver for 11 movements (moving forward /backward, turning left/right, left/right forward rotation, left/right backward rotation, moving up/down, and rotation to attachment) and clean the target surface.
The preliminary applications of meso-scale underwater cleaning robot are expected to clean indoor middle/large scale fish tanks and the exhibition glass walls in aquariums. In the future, developing toward intelligent robots, they can be widely used in all sorts of underwater cleaning. Moreover, the attachment device designed in this research is applicable to other robots requiring attachment function.
| Identifer | oai:union.ndltd.org:TW/096NTUS5489037 |
| Date | January 2008 |
| Creators | Wen-hung Chuang, 莊文鴻 |
| Contributors | Yih-lin Cheng, 鄭逸琳 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 199 |
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