A cost-effective robotic solution for the cleaning of ships' hulls
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AuthorPastor Franco, Juan Ángel; Alonso Cáceres, Diego; Álvarez Torres, María Bárbara; Ortiz Zaragoza, Francisco José; Suardiaz Muro, Juan; [et al.]
Research GroupDivisión de Sistemas e Ingeniería Electrónica (DSIE)
Knowledge AreaLenguajes y Sistemas InformáticosTecnología Electrónica
SponsorsThe work submitted here has been developed within the framework of the “EFTCoR: Environmentally Friendly and Cost-Effective Technology for Coating Removal (EFTCoR)” project, Fifth Frame Programme of the European Community (ref. GRD2-2001-50004). It has also received ﬁnancing from the Spanish government (national plan of I + D + I, PET 2008-0131 and MEDWSA-TIN2006-5175-CO5-O2) and from the Government of the Region of Murcia (Séneca Foundation).
PublisherCambridge University Press
Bibliographic CitationIBORRA, A., PASTOR, J.A., ALONSO, D., ÁLVAREZ, B., ORTIZ, F.J., NAVARRO, P.J., FERNÁNDEZ, C., SUARDÍAZ, J. A cost-effective robotic solution for the cleaning of ships' hulls. Robotica 28 (3): 453-464, 22 de Mayo 2009. ISSN 0263-5747
Ship repair industry
Servicio de robots
Industria de reparación de buques
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 ...
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