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Volume 13
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Optimized Venturi-Ejector Adsorption Mechanism for Underwater Inspection Robots: Design, Simulation, and Field Testing

by
Lei Zhang
1,
Anxin Zhou
1,*,
Yao Du
1,
Kai Yang
1,
Weidong Zhu
2 and
Sisi Zhu
1,3
1
College of Mechanical and Electrical Enineering, Hohai University, Changzhou 213200, China
2
Department of Mechanical Engineering, University of Maryland Baltimore County, Baltimore, MD 21250, USA
3
China Yangtze Power Co., Ltd., Wuhan 430010, China
*
Author to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2025, 13(10), 1913; https://doi.org/10.3390/jmse13101913 (registering DOI)
Submission received: 2 September 2025 / Revised: 30 September 2025 / Accepted: 1 October 2025 / Published: 5 October 2025
(This article belongs to the Section Ocean Engineering)
Review Reports Versions Notes

Abstract

Stable adhesion on non-magnetic, steep, and irregular underwater surfaces (e.g., concrete dams with cracks or biofilms) remains a challenge for inspection robots. This study develops a novel adsorption mechanism based on the synergistic operation of a Venturi-ejector and a composite suction cup. The mechanism utilizes the Venturi effect to generate stable negative pressure via hydrodynamic entrainment and innovatively adopts a composite suction cup—comprising a rigid base and a dual-layer EPDM sponge (closed-cell + open-cell)—to achieve adaptive sealing, thereby reliably applying the efficient negative-pressure generation capability to rough underwater surfaces. Theoretical modeling established the quantitative relationship between adsorption force (F) and key parameters (nozzle/throat diameters, suction cup radius). CFD simulations revealed optimal adsorption at a nozzle diameter of 4.4 mm and throat diameter of 5.8 mm, achieving a peak simulated F of 520 N. Experiments demonstrated a maximum F of 417.9 N at 88.9 W power. The composite seal significantly reduced leakage on high-roughness surfaces (Ra ≥ 6 mm) compared to single-layer designs. Integrated into an inspection robot, the system provided stable adhesion (>600 N per single adsorption device) on vertical walls and reliable operation under real-world conditions at Balnetan Dam, enabling mechanical-arm-assisted maintenance.
Keywords: venturi-ejector adsorption; dual-layer EPDM seal; CFD parametric optimization; underwater non-magnetic adhesion; low-power negative pressure; rough surface adaptability venturi-ejector adsorption; dual-layer EPDM seal; CFD parametric optimization; underwater non-magnetic adhesion; low-power negative pressure; rough surface adaptability

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MDPI and ACS Style

Zhang, L.; Zhou, A.; Du, Y.; Yang, K.; Zhu, W.; Zhu, S. Optimized Venturi-Ejector Adsorption Mechanism for Underwater Inspection Robots: Design, Simulation, and Field Testing. J. Mar. Sci. Eng. 2025, 13, 1913. https://doi.org/10.3390/jmse13101913

AMA Style

Zhang L, Zhou A, Du Y, Yang K, Zhu W, Zhu S. Optimized Venturi-Ejector Adsorption Mechanism for Underwater Inspection Robots: Design, Simulation, and Field Testing. Journal of Marine Science and Engineering. 2025; 13(10):1913. https://doi.org/10.3390/jmse13101913

Chicago/Turabian Style

Zhang, Lei, Anxin Zhou, Yao Du, Kai Yang, Weidong Zhu, and Sisi Zhu. 2025. "Optimized Venturi-Ejector Adsorption Mechanism for Underwater Inspection Robots: Design, Simulation, and Field Testing" Journal of Marine Science and Engineering 13, no. 10: 1913. https://doi.org/10.3390/jmse13101913

APA Style

Zhang, L., Zhou, A., Du, Y., Yang, K., Zhu, W., & Zhu, S. (2025). Optimized Venturi-Ejector Adsorption Mechanism for Underwater Inspection Robots: Design, Simulation, and Field Testing. Journal of Marine Science and Engineering, 13(10), 1913. https://doi.org/10.3390/jmse13101913

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