Research On Deep-sea Piling With The Cooperation Of Robot System

With the development of deep sea energy,many functions of FPSO(Floating Production,Storage and Offloading System) have been widely applied. The mooring system,which includes embedment anchor and suction anchor,plays an important role in FPSO. Each kind of that anchor has specialty,however,each has limitation.Recently,the action people develop oceans has extended from offshore to deep sea,the pile-anchor system has been introduced into the mooring system. That system needs underwater pile driving, which improves the anti-extracting and anti-slide ability of the mooring system and improves security and reduces failure risk of FPSO,however,if there are not cooperation of robot system,the pile can not be driven into its final position. This paper provides with a new installation technology used to stab piles directly into the seabed for mooring system and research on sub-sea piling with the cooperation of robot system,which has the following function,support pile driven vertically, enable pile self-localization,orientate pile towards FPSO accurately,latch and unlatch automatically,reduce ocean bottom breakout forces automatically and can be used repeatedly. The contents includes the mechanics analysis,the structure optimizes and the device self-localization,the cooperation with pile and so on. The thesis carries out the comprehensive analysis,the manufacture dimensional scaled model and the experiment confirms and proposes a set of theory system.This paper takes the large diameter pile as an example, having make robot model,analyzing its static and dynamic characteristic and carrying out simulation experiments. The main research content and fruits summarized as follows.1. The environmental factors of deep sea and the stress in the process of piling have been taken into account during driving a pile into a substrate, furthermore, this paper choose reasonable material and perfect structure of pile and robot. A new model was established.2. The model's structural design and optimization have been made by software, moreover, kinematical analysis and dynamic interference test have successful performed.3.Experimental project was deduced ,hereby, character of ocean bottom breakout forces and sedimentation could be calculated,finally,the simulation experiments have been performed based on the mathematical model of the system.