| With the improvement of living conditions,the contradiction between the growing demand for seafood and the traditional method of artificial fishing is becoming more and more serious.The underwater fishing environment is so bad that fishermen often suffer from rheumatism,decompression sickness and other occupational diseases,and sometimes even lose their lives.As a result,the number of relevant practitioners continues to decrease,and the fishing cost rises sharply.In recent years,underwater robot technology has developed rapidly,and its performance in underwater engineering,Marine resources exploration,underwater salvage and other fields has been recognized by the industry,but the application of underwater robot in fishery is still very few.Based on the above factors,this paper studied and analyzed the typical underwater robots and related patented technologies at home and abroad,and proposed an underwater fishing robot for underwater seafood fishing.Through the research and analysis of the development status of underwater robots at home and abroad,the overall design of underwater fishing robots is completed.Design the mechanical system and key components of the fishing robot with a modular design idea,and use the finite element software to check the strength of the carrier frame and the pressure control cabin;according to the needs of the operation,a four-driver with electric push rod is proposed.DOF manipulator,check and modal analysis of the key parts of the manipulator,and type selection calculation of the electric push rod;calculation of the center of gravity and buoyancy of the typical posture of the underwater fishing robot,verifying the reasonable layout Sex.Hydrodynamic modeling and analysis of the designed underwater fishing robot.In order to analyze the force situation of the fishing robot when working underwater,the dynamic model of the fishing robot is established,and the influencing factors of its torque are analyzed;the turbulence model and the control equation are established,and the fishing is calculated and analyzed using the fluid simulation software Fluent The hydrodynamic performance of the robot in three states: horizontal direct navigation,horizontal inclined navigation and vertical inclined navigation,and the selection of the propeller is completed according to the obtained water resistance in all directions.The kinematics and underwater dynamics of the core fishing robot arm were studied.Using the DH method to establish the kinematics model of the fishing manipulator,and using the Robotics Toolbox plug-in in Matlab to verify the correctness of the kinematics model,using the Monte Carlo method to solve and draw the working space of the fishing manipulator,the fishing machine was verified The rationality of the arm design.The influencing factors of the water environment are derived,the complete underwater dynamic model of the manipulator is based on the Lagrange method,and the joint driving torque obtained by ADAMS is verified;the fifth-degree polynomial interpolation method is used for the fishing process of the manipulator Carry out trajectory planning,and on this basis,use ADAMS to perform dynamic simulation of the fishing manipulator's fishing process.The control system is designed according to the principle prototype of fishing robot.According to the scheme of the control system,STM32 is used as the main controller,and the core control circuit is designed using Altium Designer software,including motor drive modules,various sensor modules,power modules,communication modules,etc.,and the software system is designed using modular thinking. |
