%0 Journal Article 
%A Pastor Franco, Juan Ángel
%A Alonso Cáceres, Diego
%A Álvarez Torres, María Bárbara
%A Ortiz Zaragoza, Francisco José
%A Suardiaz Muro, Juan
%A Fernández Andrés, José Carlos
%A Iborra García, Andrés José
%A Navarro Lorente, Pedro Javier
%T A cost-effective robotic solution for the cleaning of ships' hulls
%D 2009
%@ 0263-5747
%U http://hdl.handle.net/10317/1560
%X 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.
%K Lenguajes y Sistemas Informáticos
%K Tecnología Electrónica
%K Service robots
%K Ship repair industry
%K Grit blasting
%K Servicio de robots
%K Industria de reparación de buques
%K Granallado
%~ GOEDOC, SUB GOETTINGEN