Robotic vehicle and method for traction and sewing of flexible structures in marine environments

Abstract

The present invention discloses a robotic underwater vehicle and its method of operation for the continuous structural intervention of flexible linear networks and structures in a marine environment. The vehicle uses the structural line as a forward rail and stabilizing fulcrum, dispensing with free-flight propulsion for force application tasks.The architecture imposes a sequential axial mechanical flow of four subsystems that individually address the failure factors documented in the prior art: (1) a continuous deflection surface shielding system that moves the elastic grid aside and releases it with a subsequent slope profile, eliminating elastic throttling; (2) a conditioning system (mechanical, fluidic, or acoustic) that removes biofouling before the traction zone, restoring the coefficient of friction; (3) a self-compensating radial expansion traction system that mechanically travels over irregularities and newly installed solid fasteners without loss of progress or damage; and (4) an installation module with a self-compensating force, pressure, or torque limit, which replaces the fixed-stroke geometric limit. The combination of these subsystems enables uninterrupted, continuous structural stitching.