Design, Simulation and Experimental Research on an Underwater Dredging Robot

Abstract

The paper studies underwater dredging robots for wall cleaning in long-distance water conveyance tunnels. Limnoperna fortunei and other organisms will adhere to water conveyance tunnel walls after a prolonged use, affecting the water's quality. An underwater dredging robot was designed inside the tunnel walls to remove these organisms. The paper proposes a novel mechanical structure for underwater dredging. A detailed description of the machinery and control system of the working section is provided. Tests in actual pool experiments and simulations of nozzles demonstrated that the underwater dredging robot could effectively clean the adsorbed Limnoperna fortune.