The Design And Analysis Of The Electromagnetic Foot For Hull Surface Cleaning Robot

The shipbuilding industry has been playing an increasingly important role in today's transportation industry.Long-term running ships are vulnerable to marine pollutants such as marine microbes,aquatic animals and plants.Failure to clean the surface of the hull would result in speed decreasing of the ship,rising costs and reduced efficiency.Traditional cleaning technology occupies the dock costing high with low working efficiency.Therefore,this paper has studied a hull surface cleaning robot,researched the electromagnetic foot and designed its model,which ensured the reliable adsorption capacity of the robot,realized automatic operation and improved working efficiency.According to working environment and technical requirements of the robot,under the analysis of the domestic and foreign hull surface cleaning technology and the research status of the wall crawling robot technology,this paper has determined a walking mode and an adsorption mode of the robot,designed a robot body structure,leg structure and overall structure,completed a robot movement gait distribution.The mathematical model of the robot has been established based on the D-H theory,and the kinematic performance of the robot has been studied and deduced.With the researching of the method of the robot,the robot kinematics and inverse kinematics equation has been deduced;According to the Lagrange function,dynamic performance of the robot has been studied,and the kinetic equation of the robot has been deduced.The determination and design of the magnetic foot structure has been completed,and the installation method of the electromagnetic foot has been determined.According to the design requirements,The key dimensions of the foot has been calculated and the selection of the electromagnetic foot material has been completed.By changing the structural parameters,the influence of the parameters on the magnetic field performance has been completed,the structure of the magnetic foot has been optimized,and the magnetic induction line field simulation analysis and magnetic force field simulation analysis,so that the design of electromagnetic feet could meet the performance indicators,and provide a reliable electromagnetic adsorption force.