Robador, Eduardo M. (2014) Diseño conceptual de modulo robótico de inspección para ambientes subacuáticos. / Conceptual desing of robotic inspection module for underwater environments. Proyecto Integrador Ingeniería Mecánica, Universidad Nacional de Cuyo, Instituto Balseiro.
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Resumen en español
En este trabajo se diseño un modulo robótico de inspección para ambientes subacuáticos cerrados. La motivación es facilitar las tareas de inspección visual de los internos de los recipientes de presión de reactores nucleares. Tradicionalmente, esto se realiza de forma manual durante el recambio de combustibles, lo que presenta inconvenientes, como la falta de precisión en el control de la cámara y el empleo de muchos operarios, con la consiguiente exposición a la radiación. El trabajo se encaro desde el diseño conceptual del vehículo subacuático, haciendo especial énfasis en el sistema de propulsión. Los principales requerimientos considerados fueron: el tamaño compacto, forma suave, peso liviano, flexibilizad y manejabilidad con buena precisión para movimientos a bajas velocidades. Esto llevo a optar por una configuración esférica para la carcasa del robot, con un sistema de propulsión, basado en chorros de agua, proporcionados por pequeñas bombas hidráulicas, y direccionados por servomotores; ubicados de manera específica para obtener todos los movimientos deseados. Para verificar la factibilidad del proyecto y validar el diseño conceptual, se desarrollo un primer prototipo de este robot esférico subacuático, con materiales de fácil adquisición en el mercado local. Para la carcasa se utilizaron semiesferas de acrílico de 25 cm de diámetro y para el sistema de propulsión se emplearon bombas de lava parabrisas y servomotores que se impermeabilizaron con selladores de poliuretano. Por ultimo, se realizaron pruebas experimentales que confirmaron cualitativamente el diseño ideado; y se planteo un modelo dinámico preliminar basado en estos experimentos, para obtener estimaciones cuantitativas entre los parámetros de control y los movimientos logrados del robot. En base a la experiencia adquirida durante el diseño, la construcción del prototipo y los ensayos, se propusieron mejoras y caminos a seguir para la continuación del proyecto.
Resumen en inglés
In this work, the design of a robotic inspection module for closed underwater environments is presented. The motivation is to simplify the tasks of visual inspection of the internal pressure vessels of nuclear reactors. Traditionally, this is done manually during fuel exchange, which has drawbacks, such as lack of precise control of the camera and the employment of many workers, with consequent exposure to radiation. The work covers the conceptual design of the underwater vehicle. The main requirements considered were a compact size, a smooth and, light weight body, flexibility and precise maniobrability for low-speed movements. This led to the use of a spherical configuration for the housing of the robot, with a propulsion system, based on water jets, provided by small hydraulic pumps and directed by servo motors; located specically to obtain all the desired movements. To verify the feasibility of the project and conrm the conceptual design, the rst prototype of this spherical underwater robot was developed with materials readily available in the local market. Two acrylic hemispheres with a diameter of 25 cm were used as the housing of the robot, car windshield washer pumps and servomotors -waterproofed with polyurethane sealants- were used for the propulsion system. Finally , experimental tests were performed, which qualitatively conrmed the developed design; and a preliminary dynamic model was proposed to obtain a cuantitative relationship between the control commands and the obtained movement. Based on the acquired experience during design, prototype construction and experiments, several modications are suggested and also possible continuation paths for the project.
| Tipo de objeto: | Tesis (Proyecto Integrador Ingeniería Mecánica) |
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| Palabras Clave: | Underwater; Subacuatico; Robots; Autómatas; [Nuclear applications; Aplicaciones nucleares; Jets propulsion; Propulsión jets] |
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| Materias: | Ingeniería mecánica > Robótica |
| Divisiones: | Presidencia > Proyecto CAREM |
| Código ID: | 852 |
| Depositado Por: | Tamara Cárcamo |
| Depositado En: | 10 Oct 2019 15:48 |
| Última Modificación: | 10 Oct 2019 15:48 |
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