The Structural Design And Simulation Of Shallow Observation ROV

With the development of science and technology, the underwater robot is moreand more widely used. The application of underwater vehicle (ROV) with cable has avery broad prospect, particularly, the shallow water level observation of the ROV’sapplication is more widely used, and research of observation level ROV for shallowwaters exploration has great significance in our country. Aiming at the presentapplication and combined with the design method and structure of overseascommercial ROV, this paper designed a kind of shallow water level observation ROVwhich has bilaterally symmetrical and integration streamlined structure.This paper, based on the research of development and present situation of theshallow water level observation ROV at home and abroad, has designed the prototypeof the ROV according to the working environment and task purpose of ROV. Thispaper mainly introduced the selection of the ROV’s shape, and scheme of pressureshell, the design of power system and power supply, observation and lighting system;putted forward detailed mechanical design of pressure shell, underwater propeller,transparent cover and cradle head; solved the problems of intensity and the stabilityanalysis of the designed pressure shell, transparent cover and ROV’s other keycomponents with the combination of complementary way of theoretical calculationand ANSYS analysis, also proved the accuracy of calculation and design reliabilitythrough actual stress tests.This paper established a simple mathematical kinematics and dynamics model ofthe ROV, introduced the transformation relation of the ROV between fixed coordinateand moving coordinate system, and given six degrees of freedom motion equation ofROV. It also did hydrodynamic simulation on the designed ROV through theFLUENT software, and calculated water resistance when the ROV under a certainspeed along in the process. Then, it designed the ROV hydrodynamic test experiment,made a conclusion that the water resistance of ROV in the forward process can meet the requirements through verifying the correctness of the simulation calculation by thedesigned test. Through testing stability of the ROV in the wave, we made theconclusion that the ROV can run smoothly in the environment of15.43cm high waveswhich can be designed now, and would not happen instability or rolloverphenomenon.