Design Of Small Adsorption Ship Underwater Inspection Robot

In recent years, with the rapid development of global economy, the ship as the main tools of ocean transportation is playing an increasingly important role, however, The corrosive of seawater and collision of obstacles on the voyage or the biological live in the sea which attached to the ship strongly. not only seriously affect the service life and the safety of the sailing of the vessel, and results in the decrease of ship speed, fuel cost increase, therefore need to spend a lot of time, manpower and funds for maintenance. In order to prolong the service life of the ship, and improve the navigation safety and reduce the risk, the ship’s underwater detection is especially important on a regular basis, but has a long shipping date, such problems as insufficient dock, also raises the operating time of ships and the consumption of fuel oil. The underwater ship testing automation, with robots instead of human, will greatly save labor, reduce the labor intensity of the divers,also save money at the same time, reduce the stopping loss of the ship. Combined with the above problems, this paper design a small adsorption type classification survey underwater robots, effective on ship underwater detection derusting, specific content is as follows:(1) For substituting the robot’s development situation and trend of the research at home and abroad, put forward the adsorption type crawler driven visualization derusting substituting robots.(2) Combined with robot working content and technical characteristics, completed the adsorption theory analysis and track of substituting robot mechanism, adsorption mechanism, transmission mechanism, derusting institutions such as the theory of design.(3) Using Pro/E of mechanical arm kinematics analysis and interference detection and simulation, and based on the Jacobi matrix of mechanical arm was calculated, and the size of the application of ADAMS of mechanical arm posture were analyzed, and the stress of the joints and prototype making mechanical arm structure more reasonable.(4) Choose the collect hardware and design the robot software. For single servomotor, design the control system. survey the terminal control of robots.