Underwater Power Robot Dynamics Analysis

In the military,medical rehabilitation and all the need of high strength work industry,the exoskeleton robot is used as a power assistant device being developed.However,there is still a large gap between the application of the external skeletal robot in underwater and the application in land.there are also few references available at home or abroad.The difficulty of exoskeleton robot is complex environment in water.The factors,such as robot's motion velocity,water density,water depth,human-machine coupling interference make the control parameters hard to acknowledge and hard to control the robot.This paper aims to analyze the dynamics of application of underwater robot,the of theoretical modeling and simulation model,obtained the relationship between the movement of each joint torque input and output,thus obtains the control function.This paper aims to analyze the dynamics of the application of underwater robot,found theory and simulation model,obtained the relationship between the movement of each joint torque input and output,thus obtains the control function.In the beginning of this paper,combined with two swimming experiments,we obtained the humans' joint ideal swimming motion curve.Deemed the ideal motion curve to be a input,and used the method of matrix transformation to build theoretical model.Established the simulation mode in Adams and solved the dynamic equation by Reverse method.Regarded the robot and wearer as a whole,analysis model under water stress,and obtained all the theoretical formula of force and carries on the simulation analysis.Used the CFD to build the simulation model,obtained stress distribution nephogram and drag coefficient,Using Lagrange equation to establish the dynamic model,tried the ideal motion curve,and the analysis of the known force as the input,to the establishment of dynamic simulation model in Adams,obtained the control function.