TY - JOUR 
A1 - Pastor Franco, Juan Ángel
AU - Alonso Cáceres, Diego
AU - Álvarez Torres, María Bárbara
AU - Ortiz Zaragoza, Francisco José
AU - Suardiaz Muro, Juan
AU - Fernández Andrés, José Carlos
AU - Iborra García, Andrés José
AU - Navarro Lorente, Pedro Javier
T1 - A cost-effective robotic solution for the cleaning of ships' hulls
Y1 - 2009
SN - 0263-5747
UR - http://hdl.handle.net/10317/1560
AB - 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.
KW - Lenguajes y Sistemas Informáticos
KW - Tecnología Electrónica
KW - Service robots
KW - Ship repair industry
KW - Grit blasting
KW - Servicio de robots
KW - Industria de reparación de buques
KW - Granallado
LA - eng
PB - Cambridge University Press
ER -