Robador, Eduardo M. (2019) Diseño de un modulo robótico de inspección para ambientes subacuáticos. / Desing of a robotic module for inspection of subaquatic environments. Maestría en Ingeniería, Universidad Nacional de Cuyo, Instituto Balseiro.
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| PDF (Tesis) Español 13Mb |
Resumen en español
En el presente trabajo se realiza el diseño de un modulo robótico de inspección para ambientes subacuáticos. La motivación principal es la inspección visual del interior de contenedores de agua en centrales nucleares, tales como el recipiente del reactor. Habitualmente, esta tarea se realiza de forma manual con un endoscopio, lo que presenta inconvenientes como la exposición a la radiación de los operarios. Por ello, se propone como alternativa la utilización de dicho vehículo. Los principales requerimientos pedidos para este robot son: flotabilidad neutra, tamaño compacto, forma suave, gran precisión, estabilidad y maniobrabilidad a bajas velocidades. Para cumplir con estos requisitos se brinda una descripción general del sistema en cuestión y de los problemas y desafíos que se quieren resolver. Después, se elige un problema concreto para encarar en este trabajo, centrado en el sistema de actuadores, que es el encargado de los movimientos del robot. Se decide realizar los mismos mediante dos sub-sistemas: el de Propulsión, para los desplazamientos en el espacio a bajas velocidades, y el de Flotación, para la traslación vertical. Por tanto, la Tesis se centra en el desarrollo de estos sistemas. En cuanto al Sistema de Propulsión del robot, se opta por utilizar chorros de agua, proporcionados por bombas hidráulicas. Se comenta el antecedente principal de este trabajo, donde se fabrico el primer prototipo para validar la idea conceptual de propulsión. Luego, de acuerdo a lo aprendido, se describe el diseño, fabricación y caracterización de un nuevo sistema de propulsión destinado a un segundo prototipo funcional. De forma similar, se detalla el Sistema de Flotación del robot, mediante un modelo experimental fabricado anteriormente. El mismo se basa en un mecanismo de lastre variable del tipo cilindro-pistón, actuado por un motor eléctrico y un tornillo de potencia. Con ese prototipo se valido la idea conceptual de flotabilidad. En este trabajo se lo vuelve a utilizar para adquirir mayor experiencia, pensando en el diseño de un sistema similar que se implementara en el desarrollo mas actual. Luego, se detalla el Diseño Mecánico del nuevo robot que reúne las ideas aprendidas con los dos prototipos previos. Se mencionan los detalles de fabricación del sistema de actuadores, puntualizando sobre el dimensionado del nuevo sistema de flotación. También se consideran la instrumentación del modulo robótico. Posteriormente, se detalla la estructura diseñada para una correcta integración de todos los componentes del vehículo. Al final, se ensambla todo el conjunto y se realizan algunos comentarios respecto a su estabilidad y flotabilidad. Una vez fabricado el nuevo prototipo, se llevan a cabo ensayos en el Laboratorio, que logran validar satisfactoriamente el diseño del robot. Se verifica que el sistema de actuadores logrado es adecuado para cumplir en gran medida con los requerimientos planteados al principio. Por ultimo, en función de los objetivos alcanzados y los aspectos no abarcados en la presente Tesis, se proponen caminos futuros para acercarse al producto ideal requerido por la aplicación final.
Resumen en inglés
In this work, the design of a robotic inspection module for underwater environments is carried out. The leading motivation is the visual inspection of the inside of water containers in nuclear power plants, such as the reactor's vessel. Usually, this task is done manually with an endoscope, which presents drawbacks such as the exposure of operators to radiation. Hence, as an alternative, the use of such a module is proposed. The main requirements for this robot are neutral buoyancy, compact size, smooth shape, and high precision, stability, and maneuverability at low speeds. To accomplish these requirements, a general description of the robot and its challenges to be solved are provided. Then, a specic problem is chosen to be studied in this work, focused on the actuators system, which is responsible for the robot's movements. It is decided to implement them employing two sub-systems: the propulsion system, for displacements in the space at low speeds, and the buoyancy engine, for vertical translation. Therefore, this thesis focuses on the development of these systems. For the propulsion system, it is decided to use water jets, provided by hydraulic pumps. The first antecedent of this work is commented, where a prototype was manufactured to validate the conceptual idea of propulsion. Subsequently, the design, manufacture, and characterization of a new propulsion system for a second functional prototype are described. Similarly, the buoyancy engine is detailed through an experimental model previously manufactured. It is based on a cylinder-piston variable ballast mechanism, driven by an electric motor and a power screw. The conceptual idea of buoyancy was validated utilizing this prototype, which is used again to gain more experience, with the design of a similar system in mind for future implementation. After that, the mechanical design of the new robot that brings together the ideas learned with the two previous prototypes is detailed. The manufacturing features of the actuators system are mentioned, specifying the development of the new Buoyancy Engine. The robot instrumentation is also considered. Subsequently, the structure designed for the correct integration of all vehicle components is described. Finally, the whole assembly is composed of the two systems, and some comments regarding its stability and buoyancy are made. Once the new prototype was complete, experimental tests were carried out in the laboratory. The design of the robot was validated with these tests. It was veried that the developed actuator system is adequate to meet most of the requirements set out at the beginning. Finally, considering the objectives that were achieved and other aspects not covered in this thesis, future paths are proposed to approach the ideal product required by the final application.
| Tipo de objeto: | Tesis (Maestría en Ingeniería) |
|---|---|
| Palabras Clave: | Underwater; Subacuático; Robots; Autómata; Underwater vehicles; Vehículos submarinos; [Nuclear applications; Aplicaciones nucleares; Mechanical design; Diseño mecánico; Underwater spherical robot; Robot esférico subacuatico] |
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| Materias: | Ingeniería mecánica > Robótica |
| Divisiones: | Presidencia > Proyecto CAREM |
| Código ID: | 853 |
| Depositado Por: | Tamara Cárcamo |
| Depositado En: | 11 Oct 2019 10:23 |
| Última Modificación: | 11 Oct 2019 11:46 |
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