Computational and Experimental Investigation of a Negative Pressure Effect Plate for Underwater Inspection Robots

Iwahori, Takazumi; Takebayashi, Takahiro; Sakagami, Norimitsu; Kawamura, Sadao

doi:10.1109/ieeeconf49454.2021.9382695

Cited by 2 publications

(1 citation statement)

References 8 publications

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“…In recent years, the demand for inspecting, cleaning, and maintaining various underwater structures has surged, resulting in the creation of various underwater examination robots [1][2][3][4][5][6][7] designed to undertake hazardous tasks in place of humans. In these applications, tasks have become increasingly intricate, necessitating higher levels of mobility and stability in robots.…”

Section: Introductionmentioning

confidence: 99%

Study on the Adsorption Performance of a Vortex Suction Cup under Varying Diameters of Underwater Structure Tubes

Tang,

Du,

Liu

et al. 2024

JMSE

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In certain precision work scenarios, underwater robots require the ability to adhere to surfaces in order to perform tasks effectively. An efficient and stable suction device plays a pivotal role in the functionality of such underwater robots. The vortex suction cup, distinguished by its uncomplicated design, high suction efficiency, and capability for non-contact adhesion, holds significant promise for integration into underwater robotic systems. This paper presents a novel design for a vortex suction cup and investigates its suction force and torque when encountering surfaces with varying curvature radii using Computational Fluid Dynamics (CFD) simulations and experimental testing. These findings offer valuable insights for the development of robots capable of adapting to underwater structures of different dimensions. Results from both experiments and simulations indicate that reducing the curvature radius of the adhered surface results in a decrease in suction force and an increase in torque exerted on the suction cup. As the adhered surface transitions from flat to a curvature radius of 150 mm, the adhesion force of our proposed vortex suction cup decreases by approximately 10%, while the torque increases by approximately 20% to 30%. Consequently, the adhesion efficiency of the suction cup decreases by about 25% to 30%.

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