In this paper, a cleaning robot is designed to remove the marine fouling attached to a marine steel pile. In the following study, in order to analyse the process of cleaning marine fouling attached to a rough substrate, the barnacle is taken as a typical case in order to study the horizontal cutting force in the scarping process for removing barnacles on a rough substrate. The adhesion model of the barnacle was established on a rough rigid substrate. Considering both right angle cutting theory and the Peel Zone method, a scraping means and horizontal cutting force model for rough surface cleaning are proposed for the study of the surface cleaning of steel piles. In order to make the model more accurate, the finite element method is used to analyze and compare its errors. Through comparative analysis, it is known that the relative average errors about the cutting force in the horizontal direction are less than 15%. The analysis shows that the blade rake angle and rough substrate have a great influence on the horizontal cutting force. It can be concluded that the cutting force needed to clean the barnacle attached to the surface decreases correspondingly as the rake angle of the blade increases; and the rougher the substrate is, the greater the horizontal cutting force required. It is recommended to use 60° for blade rake angle. We can use the model to predict the horizontal cutting force and blade rake angle in the design of a cleaning robot.

中文翻译：

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清洗机器人去除附着在粗糙基板上的藤壶的分析

在本文中，设计了一种清洁机器人，以去除附着在船用钢桩上的船用污垢。在下面的研究中，为了分析清洁附着在粗糙基底上的海洋污垢的过程，以藤壶为典型案例，以研究在刮毛过程中去除粗糙基底上藤壶的水平切割力。在粗糙的刚性基底上建立藤壶的附着模型。结合直角切割理论和剥离区方法，提出了一种用于粗糙表面清洁的刮削方法和水平切割力模型，用于钢桩表面清洁的研究。为了使模型更准确，使用了有限元方法来分析和比较其误差。经过比较分析 已知关于水平方向上的切削力的相对平均误差小于15％。分析表明，刀片前角和粗糙的基体对水平切削力有很大的影响。可以得出结论，随着刀片前角的增大，清洁附着在表面上的藤壶所需的切削力相应减小；基材越粗糙，所需的水平切割力就越大。建议使用60°作为前角。在清洁机器人的设计中，我们可以使用该模型预测水平切削力和刀片前角。可以得出结论，随着刀片前角的增大，清洁附着在表面上的藤壶所需的切削力相应减小；基材越粗糙，所需的水平切割力就越大。建议使用60°作为前角。在清洁机器人的设计中，我们可以使用该模型预测水平切削力和刀片前角。可以得出结论，随着刀片前角的增加，清洁附着在表面上的藤壶所需的切削力相应降低；基材越粗糙，所需的水平切割力就越大。建议使用60°作为前角。在清洁机器人的设计中，我们可以使用该模型预测水平切削力和刀片前角。