Performance Analysis of a Tracked Wall-Climbing Robot in theSplash Zone

Inspection, cleaning, and maintenance of marine equipment, including ships, marine platforms, turbines, and pipelines, have always been of interest to marine industries and oil companies. Over time, fouling by algae and marine organisms on the hull of a ship and marine equipment can cause corrosion and cracks, which must be inspected and then cleaned. Typically, these operations are performed by divers, which has several disadvantages, including the risk of life and an increase in cost and time. Currently, marine robots, including Remotely Operated Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs), are now expanding and replacing humans to perform reconnaissance operations. Splash zones are critical areas with high dynamics on the surface, where corrosion and structural stress abound, making inspection and cleaning of these areas especially important. In this research, we analyzed the position of a climbing robot in the splash zone with regard to water flow and waves using the CFD method. A permanent magnet adhesion system has been selected for this robot, and the way of arrangement and optimization of the adhesion force has been simulated. If the wave hits the robot at a high altitude, the magnets may become detached from the hull, and it will fall, thus it is essential to conduct a comprehensive analysis of it to prevent falling. In the end, the robot was tested on the ship's hull in sea conditions, which had acceptable results.