| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 101 === There are many practical service robots in consumer markets nowadays, but few are available for underwater cleaning. This research plans to develop an underwater robot with bottom cleaning function, which could replace the existing manual works. The robot had an innovative triangular structure, equipped with exclusive cleaning and moving mechanisms. With the integration of control system, the robot could automatically clean the bottom of the water tank.
Underwater robot in this research could be divided into four main modules— main frame, moving module, cleaning module, and control module. The moving module located at the three vertices of the triangle structure with rotatable wheels. Combining the three basic moving types, forward/backward moving, spot-turning, and vertex-turning, fourteen maneuver modes can be achieved. The zigzag cleaning path was designed based on these moving modes. The robot would move to the position and stop first before performing the cleaning job. The cleaning module jetted water to disturb and lift up the wastes on the tank bottom, and then the polluted water was extracted. After the covered area was cleaned, the robot would stop the cleaning module and stay for seconds to stabilize the environment before moving to the next position.
The robot components were designed by 3D CAD/CAM software, and manufactured by additive manufacturing technologies for prototype assembly. The overall size of the robot was 285mm×270mm×150mm. The underwater test results showed that the robot could successfully move on the expected paths and clean the bottom of the water tank.
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