造船厂
船体
机器人
过程(计算)
造船
建筑
集合(抽象数据类型)
制造工程
工程类
海军建筑
海洋工程
计算机科学
人工智能
艺术
视觉艺术
考古
操作系统
历史
程序设计语言
作者
Andrés Iborra,Javier Pastor,Diego Alonso,Bárbara Álvarez,Francisco Ortiz,Pedro J. Navarro,Carlos Fernández,Juan Suardíaz Muro
出处
期刊:Robotica
[Cambridge University Press]
日期:2009-05-22
卷期号:28 (3): 453-464
被引量:30
标识
DOI:10.1017/s0263574709005797
摘要
SUMMARY Hull cleaning before repainting is a key operation in the maintenance of ships. For more than a decade, a means to improve this operation has been sought through robotization and the use of different techniques such as grit blasting and ultra high pressure water jetting. Despite this, it continues to be standard practice in shipyards that this process is carried out manually. This paper presents a family of robots that aims to offer important improvements to the process as well as satisfying, to a great extent, all the operative requirements of efficiency, security, and respect for the environment that shipyards nowadays demand. It is described the family of devices with emphasis on the mechanical design. This set consists of two vertical robotic towers and a robot climber. In addition, it is shown the control architecture of the global system. Finally, operative results are presented together with a comparison between the performance achieved in shipyards through the use of these robots and those obtained with a manual process.
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