Design And Research Of Deformable Amphibious Cleanup Based On Parallel Mechanism

Most small rivers have the functions of drainage, irrigation, water storage, etc. Many small rivers exist a series of problems, such as disrepair, serious siltation, sediment contamination and garbage filled. The governance of small rivers is urgently needed. Small amphibious tool-carrier device is one of the most effective devices to operate freely in small rivers, the core technology of amphibious tool suitable for urban small rivers and wetlands in the catchment using body floating garbage collection, water hyacinth plants harvesting, dredging, mining, and etc. is the design of amphibious walking mechanism.Based on the existing amphibious equipment, this thesis designed a kind of amphibious tool for small rivers to solve the water waste, corruption aquatic plants, river silt and other clean governance issues. This thesis mainly includes the following aspects.(1) Based on the existing products at home, abroad and relevant academic research to explore all kinds of garbage cleaning equipment, a kind of new amphibious river cleanup is designed and the tire-paddle-crawler walking mechanism and filled reticles walking mechanism used for amphibious cleaning boat are proposed; The first scheme and its working process that of on land, under water, slope work, obstacle and cross drainage work have been analyzed. Having carried out a detailed design of the scheme two that filled with a soft body reticles and the entire ship functions attachments, including the hydraulic systems and cooling system.(2) In order to meet the requirements for deformation of amphibious equipment, we designed the 4SPS/UPU parallel mechanism, the mechanism comprehensive and solving for DOF are conducted; Its mechanism position, velocity and acceleration numerical are solved by establishing the kinematic model. This article use the kinematic simulation software ADAMS to explore the inverse kinematics of the parallel mechanism to explore the control strategy of the hydraulic cylinder.(3) The honeycomb supported with a cross deformable silicone rubber keypad as thecomposite flexible skin to meet the requirements for deformation of the amphibious boat is designed. the depiction of topological shape of the honeycomb is conducted and the deformation mechanism of its in-plane direction and the vertical direction within the bearing characteristics of the skin structure is analyzed. It can provide a theoretical basis for the structural design in the future and the foundation for future optimization design.(4) The force model of reticles and the ground is established to analyze the force conditions because of the deformation characteristics of filled reticles when working on land; The forces for low tire pressure of the system is also analyzed; The designed filled reticles’ support stiffness is explored by using the ANSYS software based on filled and unfilled reticles deformation force.The deformable amphibious cleanup based on parallel mechanism that this article designed provides a theoretical basis for the further development of high-performance amphibious cleanup.