| The quality of ship propeller cleaning is an important factor affecting navigation efficiency and fuel consumption.In this paper,the theoretical analysis,structural design,simulation test and physical test of the HDM of hull are carried out by using the principle of bionics.Finally,the cleaning function and the rigid-flexible coupling characteristics of the super-smart manipulator are demonstrated.This project is derived from the National Natural Science Foundation of China(No.51375519).The main research of this paper includes the following points:(1)For the propeller cleaning on the cleaning robot as a whole without dead ends,efficient,automated requirements,the cleaning robot and the carrier made a design.After selecting the cleaning medium as the water jet,the traditional flexible continuous type robot is improved by using the principle of bionics.A rigid and flexible HDM robot with high flexibility and high carrying capacity is designed.At the same time,the carrier of the robot was bionic design,the design of the robot carrier with octopus adsorption characteristics,compared to the traditional underwater robot has some improvement.(2)The kinematics and kinetic model of the manipulator are studied,and the kinematic positive solution of the single-stage HDM model is first analyzed by geometric analysis.The mapping relationship between the driving space and the joint space is deduced.Then,based on the previous basis,the kinematic inverse of the single-stage HDM model is deduced,and the mapping relation from the joint space to the operation space is deduced.On the basis of the inverse of the single joint,the mapping relationship between the joint space of the joint and the operation space is deduced,and the kinematics analysis is completed.According to the characteristics of the manipulator,the dynamic analysis of the manipulator model is carried out,and the mapping relationship between the driving torque and the generalized force and the executing end is determined.And finally based on the above theoretical basis to make a study of kinematic control.(3)In order to verify the theoretical model of HDM manipulator,the rigid-flexible coupling modeling method was used to verify the HDM manipulator.According to the characteristics of the robot combined with simulation software features the final use of ADAMS software to achieve simulation analysis.In the ADAMS simulation environment,the rigid and flexible coupling kinematics simulation is carried out on three parts of rigid parts,flexible parts and rope type components.After the robot arm and drive system to simplify the replacement process,the force between the various parts set.After the model is established,the simulation results are analyzed.The simulation results verify the validity of the theoretical model.(4)The correctness of HDM model is further verified by physical experiment.Combined with the characteristics of different parts of the robot and the characteristics of different materials,the robot parts of the selection of materials after the prototype production.After the prototype is completed,the robot's calibration system Compugague is used as the test tool to compute the repeated positioning accuracy under the no-load pressure of the robot and compare it with the theoretical data.The correctness and validity of the model are proved by the processing and comparison of the data. |
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