Verification of the Mathematical Model for an Underwater Crawler Robot

Abstract:

This paper presents the mathematical and structural model as well as the verificationof a designed and built underwater crawler robot. The underwater crawler robot is designed to inspect elements of the water supply infrastructure, including pools, reservoirs and pipelines with round or square cross-sections. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage. The mathematical model was used for a number of simulations and subjected to verification on a real object in two test environments.

• Periodical: Applied Mechanics and Materials (Volume 817)
• Pages: 223-233
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.817.223
• Online since: January 2016
• Authors: Krzysztof Kurc*, Dariusz Szybicki
• Keywords: Crawler Drive, Designing, Dynamics, Kinematics, Mobile Robot, Verification

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