Abstract
In recent years, some research institutes have proposed the use of cable-free autonomous underwater vehicle-manipulator system (UVMS) for pipeline inspection. However, there are still some problems in applying conventional UVMS to the pipeline inspection and maintenance. According to the requirements of pipeline inspection mission, we have proposed a novel UVMS with adsorption capacity. Compared with the conventional UVMS, the UVMS can be adapted to a pipeline having a diameter of Φ500–1000 mm when adsorbed, so the end effector has higher operational precision compared to the floating state. Furthermore, the kinematics and the dynamic models of UVMS are established. Among them, the dynamic model of UVMS is established by the SimMechanics toolbox under MATLAB/Simulink, which overcomes the complexity of high-dimensional and dynamic interactions of UVMS.
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