Research Of Metrology And Analysis Technology Of Underwater Manipulator And Propeller

Marine traffic line is the lifeline of national economy,transportation facilities and construction equipment can obtain the environmental parameters of the relevant sea.Underwater robots is the first auxiliary equipment of offshore construction,so the localization rate is particularly noteworthy.Considering that domestic underwater vehicles can better adapt to the construction of the special marine environment of China's coastal transportation facilities.So that drawing up the relevant national standards and the development of corresponding measurement test platform is the only way to meet the WTO "zero tariff"challenge.Actuators,propellers and manipulators are the core components of underwater robots for offshore construction,In order to ensure the accuracy of the above core components,it is necessary to develop the corresponding measurement and test platform which can provide the basis for the setting of the relevant national standards in the world.This paper is divided into six chapters:In the first chapter,the research background of the paper was mainly introduced.The test research status of each core component of the underwater robot,namely propeller,manipulator and actuator was also been analyzed.Finally,based on the marine auxiliary construction demand and analysis of the merits and demerits of the test of the core components,the significance and the main research contents of this paper were presented.In chapter two,based on the application requirements and the national standard test requirements,the performance parameters of propellers and manipulators are measured and analyzed.To ensure the precision and accuracy of the actuator metrology test,the error analysis of key performance parameters was been researched.In chapter three,based on the application requirements and the national standard test requirements,the actual operation was the tested in underwater environment,Amassing with the actuator motor test and getting the unit axis power under the column thrust,evaluating the actual underwater propeller performance.To ensure the accuracy of the propeller test results and test the reliability,the error analysis of key performance parameters was been researched.In the first four,based on the application requirements and the national standard test requirements,through the modeling and parametric analysis of the manipulator,the envelope of the working space was analyzed and tested.The motion control performance of each single joint was tested.To ensure the accuracy of the propeller test results and test the reliability,the error analysis of key performance parameters was been researched.In chapter five,the test of the YK-DT-075 electric propulsion and YK-MA710A manipulator were specially analyzed.Combined with the measured error,the precise range of the measured value was obtained.Based on the technical indicators,the performance was analyzed and evaluated,Finally,the overall performance of measured propeller and measured robot was get.In chapter six,the main work results and innovations of the dissertation were summarized.Future work and the research orientation of the research on Precision Analysis of Core Components of Underwater robot were also prospected.