| As a special type of working robot, wall-climbing robot has been used in many areas, such as nuclear industry, petrifaction enterprise, building industry, fire fighting and ship building etc. It has been provoking high attention world widely ever since it was born in 1960's. The underwater ship hull cleaning robot researched in this paper belongs to the wall-climbing robot, and is supported by The Heilongjiang Homecoming Scholar Fund. It has wide application value.At first, the author systematically overviews the developing situation of underwater cleaning technology and the wall-climbing robot, and puts forward the structure scheme which adopts double crawler movement and permanent magnetic adsorption for the robot. The paper sets up mechanics model of the robot when it is immobile, or mobile, or it is effected by acclivitous-resistant devices, makes kinematics analyses, and build up the kinematics equation.The paper studies and designs the circuit driving the servo motor and the motor for clearing, and the serial communication circuit, and the sensor data input circuit etc. The author develop the embedded controller software based the advanced singlechip language-PL/M and the user interface software base VC++6.0.In order to meet the requirement of posture controlling when the robot works in complex and badly environment, the paper pup forward a new P-FUZZY-PID controller based on switching using fuzzy rule, ensure the robot to have well posture adjusting ability.At last, performance experiments for the robot are made. Test results indicate that the developed ship hull cleaning robot has the characteristic of strong holding load, smooth and steady movement, adjustable speed, strong anti-topple capability and good deviation-rectifying. Performance index of robot is in accordance with the design specifications.In conclusions, the successful development of the underwater ship hull cleaning robot opens up a new domain for the application of the wall-climbing robot.
|
PDF Full Text Request