| Abstrakt: |
As of today, there appear a number of problems in the area of marine vessels maintenance associated with high labor consumption and duration, in particular connected to diagnostics and maintenance of marine vessels and submarines at docking. In order to solve these problems, mobile robotic systems were gradually started to be implemented. However, current solutions are not possessing the required level of operational and ergonomic characteristics. Within the frames of this article, questions related to generation and study of a concept envisaging multifunctional modular mobile robotic complex use in marine vessels maintenance are considered. Comparative analysis of modern technical solutions in design and development of such robotic systems was carried out; and main promising technical solutions used in these complexes were identified. Based on the study conducted, general concept of a robotic complex under consideration was generated. Using systematic and technical techniques, basic parameters of the future complex were formed, its main weight, size and power characteristics were determined. Structural and functional schemes of the complex and of its individual subsystems were built. A number of primary technical solutions were designed and developed that directly affect functioning of the developed robotic complex. Tasks to be considered in the future were generated, including detailed elaboration of executive subsystems, as well as refinement and consolidation of estimated design models into an integrated dynamic model. [ABSTRACT FROM AUTHOR] |
