Work

Design and Implementation of an Underwater Cleaning System for Ship Maintenance via a Robotic Arm

Year: 2026

Type: article

Abstract: To better address the operational requirements for emergency underwater ship maintenance, this study proposes the use of an underwater robotic arm instead of divers for cleaning submerged hull sections. Experimental analyses are conducted to validate the stability and feasibility of the constructed underwater robotic arm cleaning system. Initially, hydrodynamic analysis of the robotic arm was performed using the Morison equation. Through fluent dynamic simulations, the hydrodynamic moments on each robotic arm during cleaning operations were obtained, confirming that stress under typical seawater flow velocities remained within the rated limits. Subsequently, dynamic simulations were carried out to determine the joint driving torques in a fluid environment, quantify the influence of the hydrodynamic resistance on the joint torque, and verify the accuracy of the fluid dynamics model. Finally, motion control and underwater cleaning experiments were implemented on the system. Experimental results further corroborated the correctness of the fluid model and operational environment analysis, demonstrating the expected cleaning performance and providing both data and experimental support for practical underwater maintenance during long-distance ship voyages.

Source: Applied Sciences

DOI: 10.3390/app16073222

Authors: Chenghao Cao, Wenyong Guo, Jingzhou Fu, Jianggui Han, Xiaofeng Li

Institution: Naval University of Engineering

Language: English

Topic: Underwater Vehicles and Communication Systems

Subfield: Ocean Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,896

Funders: National Natural Science Foundation of China, Natural Science Foundation of Hubei Province, Naval University of Engineering