Design And Experimental Study Of Salvage Manipulator For Underwater Vehicle

With the rapid development of shipping business and the stride pace of marine power construction in our country, the range and density of marine activities continue to expand. The risk also increases as the ship sinking accident and aircraft crashed into the sea occurred from time to time, rescue and salvage operations are high-risk and time-consuming. It’s of great significance to improve China’s emergency rescue and salvage ability by strengthen the research of underwater salvage related equipments. Aiming at the large tonnage and deepsea salvage requirements, this thesis designs a large-scale salvage device for underwater vehicles in order to improve the operation efficiency and reduce the work intensity.According to the environment and technical requirements of the salvage operation, this thesis designs the mechanical structure, hydraulic power system and control scheme of the salvage manipulator, and expounds the concrete process of operation.The mechanical analysis and simulation of the salvage operation process are carried out.The condition of maintaining the balance of the manipulator in water is determined by calculating the stability and buoyancy. The Drucker-Prager soil model was used to simulate the process of shearing the mud, and the influence of soil parameters on the traction force was discussed. This thesis studys on the seabed soil adsorption force by using Terzaghi ultimate bearing capacity theory, and the added mass of water in the lifting process is calculated. This provides a theoretical basis for the stress analysis of bearing parts. The shell bending and shear stress are also calculated in order to avoid damage in the lifting process. The optimization of the lock joint are carried out by adopting the two order response surface method to optimize the joint quality and reduce the maximum stress at the time of tension. At last,the lateral force and lift of the manipulator are analyzed, the results show that the low velocity current has no obvious effect on the operation process.Because of the working environment and the depth of the water, the hydraulic system is based on the compensation principle. This thesis analyzes the principle and characteristics of the hydraulic system and component selection. The hydraulic system is simulated by computer modeling, and the dynamic performance of the valve controlled motor system is corrected by using Matlab toolbox to meet the design requirements.Finally, this paper designs the overall control scheme according to the operating process and the requirements of the underwater control system, including hardware design and software design, and describes the composition of hardware and software architecture and control method. The feasibility of the design scheme is verified by the underwater experiment of the test sample, which provide reference for the development and improvement of engineering prototype.The research of this thesis provides a basis for both design and improvement of the salvage manipulator for underwater vehicle, and widens the research mentality of underwater salvage equipments.