Research On Modeling And Salvage Simulation Of Automatic Salvage Semi-physical Simuliation System

With the continuous development of marine salvage technology,marine salvage robots will develop in the direction of automation,mechanization,and high precision,and the efficient recovery of high-value floating objects at sea will become more extensive and important in the future.For current salvage under high sea conditions,it has not been possible to realize automation and other issues.For the first time,the research of the automatic salvage robot project has been carried out.This article has conducted a detailed study of its modeling and salvage simulation for the semi-physical simulation system applied to this project.In the paper,based on the specific structure of the salvage robot,the DH coordinate system of the salvage robot is established using the standard DH parameter method,the positional relationship between the robot joints and ends is analyzed,and then the inverse kinematics of the robot is solved by the separation geometry method,which lays a theoretical foundation for subsequent dynamic analysis and the design of the upper controller.On the basis of kinematics,this paper adopts the Lagrange method to establish the robot dynamics equation,and a Pieper criterion is used to simplify the dynamics equations reasonably.Then,based on the simplified model,the dynamics equations of the floating base robot are established,and the influence of hull motion on the dynamics of robot is analyzed,which establishes a model and theoretical basis for automatic salvage semi-physical simulation system.For the target's motion simulation on the ocean wave,a target motion simulation platform was built,taking into account the target's motion state after being collided in the ocean wave,at the time,the platform is needed to simulate the target's impedance characteristics on the ocean wave.In this chapter an impedance controller is added to the platform.The impedance characteristics of the target motion simulation platform are realized through simulation,which adds the authenticity of the target motion to the subsequent simulation.Finally,the integral mechanical system dynamics model and drive system dynamics model are established,and a kinematics-based control framework is built.Through the adjustment of the joint controllers on the robot,the form of Adams/Simulink joint simulation is successfully used to salvage simulation of the dynamic target of the salvage robot,which verifies the correctness of the design of the upper and lower controllers,and at the same time,the feasibility of capturing the target is briefly analyzed.