The Development Of The Curved Walking System For A Hull Polishing Small Type Robot

With the development of the marine economy, the oceanic transportation also progresses to afast speed, possesses large amounts of cargo and presents prominent feature of fluid dynamics, so itmakes the modern hull shape needs the fluid dynamics of the surface morphology and requires ahigher quality of the outer body surface. However, most of the surface proceedings of the ship-building and ship-repairing technology in China are operated by workers, which is inefficient,costly and of low quality. In addition, the outer surface of the hull coating material is usually toxicto the human body. Therefore, the small polishing robot needed to meet the engineeringrequirements becomes a practical business. In order to solve above problem, a research on curvedsurface walking system of the hull polishing robots has been conducted. Details are as follows:(1) Make a research on the present situation of climbing robot in various industries at homeand abroad and summarize its advantages and disadvantages. The three-dimensional designsoftware is used to project a system suitable for the hull curved surface walking system, whichverifies in theory the rationality of the adaptive mechanism of walking system and determines oneby one the movement form and the way of adsorption of the walking system.(2) Use the multi-body movement simulation software to make a dynamics research on theadaptive effect of walking system surface. Take the chain of the walking system and the roadsection clearance area as the determinant factor to the stand of fall of the adaptive effect. Set up aspline curve road, simulate the movement situation of the small type robot on the regular surfaceand curved surface to draw trajectory error and to verify the adaptive effect.(3) By understanding each performance index of the magnetic material, we selectrectangular permanent magnets as absorption material of the small type robot. We have made atheoretical calculation analysis of the magnetic induction intensity of the permanent magnet. At thetime, we have used finite element analysis to establish magnetostatic analysis for a single unit andanalyzed the influence of the steel plate thickness and the air gap on the absorption force. Wecompare the finite element analysis results and the actual measurement results, providing a reliablebasis for the design of absorption structure and the suitable size of the permanent magnets.(4) The design of the small type robots VC++control system MFC, based on the platformVC++, applies multi-threading serial programming tools CSerialPort to realize a serial machine communication. The control system is based on the wired remote control forms, which is stableand reliable, and can easily control program as well.Based on the above theory and technology support, the hull polishing robot prototype hasbeen produced in order to measure the selected magnet adsorption and to evaluate the performanceof the prototype from the aspects of absorption unit, load capacity, trajectory simulation and hullwall walking. From the experimental results, the prototype can effectively adhere to the hullsurface, which further provides reliable transport carrier for the hull of polishing work.