Research On Hydrodynamic Performance And Experiment For Underwater Hull Cleaning Robot

In recent years,underwater robot becomes a hot issue with the vigorous development of marine resources. Therefore, underwater robots have been widely developed and applied to a variety of areas. The ship industry is developing rapidly so that it is paid more and more attention to cleaning the hull fouling material on the surface. This paper studies the underwater robot that can complete the automatic cleaning, designs the structure of the robot and then simulates and analyses the hydrodynamic performance of robot. The simulation data can be verified accurately through the hydrodynamic test. The main content of the research is:In order to get more suitable hull cleaning robot, the existing circumstances of the robot in China and abroad are summarized. And then it is pointed out the cleaning robot adopts the adsorption cleaning method and the limitations. On the basic of explaining the working principle,each part of the scheme is selected and designed according to the working environment, then to design the overall structure of the robot, including the design of the adsorption mechanism, the walking mechanism and the cleaning mechanism.Besides,the appearance structure of robot is studied by hydrodynamic performance.After determined the parameters of boundary conditions and turbulence model, the simplified model of robot is simulated on water resistance using Fluent software. By the analysis of simulation results, the optimized scheme of appearance structure is proposed. And finally it will be compared with the original structure to verify that the optimized structure has less water resistance.Then, the stability of underwater robot is studied. As robot needs to ensure the stability of adsorption when it works under water, the minimum adsorption is determined by analyzing the mechanical model on static and walking states. On the basic of analyzing of the theoretical model and simulated the adsorption mechanism. And with the help of CFD software, the conditions that meet the minimum adsorption are determined. In order to ensure the stability of position, the center of gravity and buoyancy for the robot is calculated. Based on the theoretical calculation, the position of gravity and buoyant center are adjusted to ensure the stability of robot.Finally, the test platform is built and the hydrodynamic performance is tested on physical prototype. The test includes four parts: the test of water resistance, the test of walking speed of underwater robot, the test of adsorption capacity and overall performance. By the first three parts of the test, the accuracy of theoretical model and simulation data is verified and then the effect of each part in the actual cleaning is tested through the overall performance test.Based on our study, the theoretical and experimental results are verified accurately. At the same time, this paper can provide the theoretical foundation and technical basis for the improvement.