碩士 / 國立臺灣科技大學 / 機械工程系 / 98 / Nowadays underwater cleaning of glass walls of the underwater exhibition or large fish tanks is mainly done by manual work. The existing underwater cleaning robots, with symmetrical structures, need several motors and complicated control systems to make them moving in a straight line. In this research, an innovative triangular-frame concept was adopted to design the underwater cleaning robot in order to clean flat wall and to meet low cost and low energy consumption purposes.
The triangular robot had three curved shell and cleaning cylinders at the corners. Each shell had a DC motor attached to it, and one motor was placed in the center for Z-axis movement. With this structure, when two corners contact the flat glass wall, only one motor was needed to move the robot along the wall and push the robot toward the wall at the same time. The friction between the wall and the cleaning cylinders at two corners could improve the cleaning effect in the wiped area. When the robot reached the tank corner, the sensor made with strain gauge would activate the other motor to turn the robot for the next wall cleaning. After finishing each wall, the Z-axis motor can adjust the robot to different height for further cleaning. Simple and economical Darlington IC and relay were utilized to control motors. The system was designed to be controlled automatically or manually. The overall size of the robot is 270x250x120mm. Prototype components were manufactured by OBJET EDEN 330 Rapid Prototype system and rapid tooling approach. The underwater tests showed that the robot could successfully clean the walls one by one and move to the next vertical position for next-layer cleaning.
| Identifer | oai:union.ndltd.org:TW/098NTUS5489101 |
| Date | January 2010 |
| Creators | Yung-tse Lin, 林永澤 |
| Contributors | none, 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 | 107 |
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