Development and Modeling of an Underwater Ship's Hull Inspection Station Equipped with Two Arms Manipulator

摘要

Due to its different benefits, the underwater hull inspection has become a focus of interest of a big number of researchers and companies. In this article, we look to aid and simplify the ship's hull inspection task through a new robotic system using two arms manipulators. Therefore, we established the geometric and dynamic models of an underwater ship's hull inspection station components. In effect, the mentioned station has fourteen freedom degrees, which are eight rotations and six translations in both arms. Furthermore, we applied a PID controller in order to establish the dynamic simulation of the station using the SimMechanics software. This study demonstrates that such a station using two arms manipulators technology can make the ship's hull inspection process simple and more effective.