Structural Design And Hydrodynamic Research Of The Five-DOF Underwater Working Robot

Limited by own physiology and science technology level,the human progress of understand and explore the ocean is slow.Because the land resources gradually dry up at present,the demand of Marine development is becoming increasingly urgent.With the rapid development of underwater robot technology,The pace of human progress toward the ocean is accelerating.Benefiting from its unique advantages,Remotely operated vehicle(ROV)which is the important kind of underwater robot have been closing to daily production and life more and more.In the ROV application,a trend towards miniaturization and portability has been done.The study of this paper is one kind of floating moving ROV platform could be equipped with operation and observation quipment.Following the principle of modular design,this paper researches on the control system design、structural design、simulation analysis and hydrodynamic performances of the ROV system.By testing the performance of thruster and ROV system,verifies the correctness of the design method.The main research contents of this paper include the following aspects:First of all,this paper introduces the domestic and foreign technical research and progress of ROV type underwater robot.According to the related requirements on this subject of operating environment and performance indicators,this paper has done the research and design of the ROV scheme,and confirms the layout scheme of the six propellers with five degree of freedom.On the above basis,we design the structure of each part such as pressure control box,propeller,lighting,float,etc.Next,in order to meet the requirements of the ROV sports performance,CFD simulation and streamlined optimization of the ROV shape have been done.By comparing the before and after optimization of the water resistance of ROV actuator,we deduce the water resistance curve and maximum value prediction of the translational degrees of freedom.By analyzing the hydrodynamic characteristics of ROV umbilical cable,we deduce the water resistance maximum prediction in the limit velocity condition of flow field.According to the design thoughts and method of the ducted propeller and water-jet propulsion,the analysis of the water resistance of the ROV actuator and umbilical cable,a kind of pump jet propulsor(PJP)is designed,the model of propeller motor and the dimension parameters of blade areconfirmed.Finally,this paper completes the production of prototype according to the design plan.The test platform is built to test the propeller propulsion performance of the prototype.It includes forward-backward propulsion in the condition of single propeller and forward-backward propulsion in the condition of two or more propeller with mutual interference,to certify the feasibility of prototype.Then test the performance of the ROV system separately in natural waters and experimental tank,to validate the performance of prototype system which can satisfy the requirements of various indicators.