Dynamics and kinematics of novel underwater vehicle-manipulator for cleaning water pool

This paper presents the dynamics and kinematics analysis of an underwater robot specifically designed for cleaning water pool. We have designed an underwater robot to meet the needs of cleaning job. The cleaning job can be classified into two main parts: bottom cleaning and side-wall cleaning. Most of the pool cleaning robots that are available in the present market are typically mobile robots. It is easy to find that a mobile robot cannot cleanse up some areas inside the water pool, such as the corner areas and the surface above the water level. Hence an underwater vehicle-manipulator system (UVMS) developed can tackle the cleaning issues efficiently.