Structural Design And Analysis Of Remote Operated Vehicle

At present,China's marine industry is in a period of rapid development.As a new kind of marine high-tech equipment,the underwater remote operated vehicle is widely used to marine resources exploitation,marine security,underwater observation,underwater archaeology,ocean rescue and salvage.Based on the investigation and research of the existing remote operated vehicles at home and abroad,this paper puts forward a kind of underwater robot structure.And this paper researches ROV's kinematics and fluid simulation situation.At first,based on a fully investigation on the classic ROVs,a project is made,which has six basic modules.They are the floating body material,the carrier frame,the propellers,the pressure hulls,the hydraulic manipulator and the other parts.The floating body material provides the ROV with an appropriate buoyancy,which enables the underwater robot to reach the zero buoyancy state.Five propellers match with each other,so as to enable the ROV to move freely under water.According to the corresponding parameters,the structure of ROV is designed in SolidWorks.And this paper checks the strength of some important bearing components such as carrier frame,hull and rings with SolidWorks Simulation finite element analysis software.Then,The kinematics model is established.The fixed system and the moving coordinate system and the conversion formula between them is establish.On this basis,a simplified expression of ROV six degree of freedom motion is solved.After that,the performance of ROV is analyzed with the fluid software Simulation Flow.The pressure of ROV under water is simulated when it's moving,and the resistance characteristics of ROV under different speeds are analyzed.At last,the results of the experiments are described in detail,the simulation results are compared with the simulation data and the theoretical model.And all the functions go well.