Abstract
A crawler is an instrument, which is widely used for seabed exploration and even for underwater operation. A crawler system has the potential to expand the research and development on seafloors with irregular stepped terrains and multiple types of seafloors. The characteristic parameters in the water, such as added mass, buoyancy, and hydrodynamic forces, considerably affect the stability and decrease the mobility of crawler-type remotely operated vehicles (ROVs). To study and evaluate the mobile performance of a crawler system, it is important to investigate the design of the crawler system by considering these effects. This paper presents multiple results of an underwater crawler system done by researcher to show the dynamic effects on the vehicle’s motion. Experiments were conducted on a crawler-type ROV climbing over a bump in a water tank to examine the traction characteristics of the crawler. The model presented in this paper simulates the effects of added mass to the dynamic motion and the traction characteristics very well, and it reveals the physics of the crawler-type ROV’s motion.
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Acknowledgements
This project has been approved by UniKL Mimet and supported with Short Term Research Grantt (STRG) Deepest thanks to, Mr. Ahmad Makarimi bin Abdullah as our main supervisor for excellent guidance, caring, patience, and providing us with an excellent atmosphere for doing our final year project. Furthermore, the contribution of lecturers and technicians at Unikl Mimet is acknowledged.
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Abdullah, A.M. et al. (2018). Improved Design of the UniKL Amphibious Research Crawler II for Underwater Exploration. In: Öchsner, A. (eds) Engineering Applications for New Materials and Technologies . Advanced Structured Materials, vol 85. Springer, Cham. https://doi.org/10.1007/978-3-319-72697-7_20
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DOI: https://doi.org/10.1007/978-3-319-72697-7_20
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