Research On Mobile Underwater Welding Robot Used On Pool Surface

Nuclear power as a clean energy is valued by more and more countries. The numberof nuclear power plant built in our country are increasing year by year. The humanbenefits a lot from the nuclear power plant, but, if we do not pay attention to thesecurity check and do not have remedial measures after the accident, we will suffer agreat loss. The accidents at the Chernobyl Nuclear Power Plant and the FukushimaNuclear Power Plant are the lessons if we don’t focus on the safety use of thenuclear plant.This project are proposed under the background of Fukushima Nuclear Plantaccident, engaging in the research on the nuclear underwater welding robot used inthe pool to do daily test, accident repair (not including operating devices). A suitabledesign project is put forward after studying on the current stage of Nuclear Disasterrobot, wall operating robot and underwater robot. Then, the design of mechanicalstructure, the material selection and the component selection of the robot areintroduced. According to the characteristics of the robot, the adjusting method ofgravity center and buoyancy center and the cooperation of locomotive system andoperating system are proposed.According to the characteristics that the robot center of gravity, buoyancy and themoment of inertia changes with operating system movement, a suitable dynamicsmodel is established in this article. According to the dynamics model, a simulationmodel is built in the Matlab/Simulink,after that. Inputting the propeller force andmoment and ignoring the outside interference, the simulation model reveals themovement characteristics of the robot.In robot detection operation, the motion planning of the cooperate of the operatingsystems and the locomotive system is made. After considering the robot posturechange by outside interference, the sliding mode control algorithm for closed-loopcontrol is made. Perfect the simulation platform and simulate the motions as planned;Verify the effectiveness of cooperation of the operating system and locomotivesystem on the robot posture adjustment; Verify the validity of the dynamic modelbuilt for this robot.