| Engineering professional divers play an important role in the detection and maintenance of marine oil and gas resources development equipment,as well as the rescue and salvage of shipwreck accidents.It is very necessary to develop a imitation-diver robot to replace a professional diver in engineering.In this paper,the overall structure and underwater motion performance of the imitation-diver robot are studied,which lays the foundation for the development of the imitation-diver robot.The specific work of this paper is as follows:Firstly,according to the analysis of the underwater motion of the diver,the research on the general scheme of the Imitation-diver robot is completed: Through the research of the swimming mechanism of the diver,the autonomous swimming posture and the leg swinging law of the imitation-diver robot are set.According to the analysis of the underwater movement of the diver,the overall scheme and the body structure of the robot are designed.For the study of ontology structure,the design of the body structure is completed through the analysis of kinematics and force.According to the kinematics and force analysis of waist structure and leg structure,the selection of steering gear and motor is completed.Through the analysis of the stability of the robot,the center of gravity scheme is proposed,the balance adjustment is completed,and the center of gravity coordinates are calculated,which lays the foundation for the establishment of robot coordinate system.Secondly,the static analysis and underwater motion performance analysis of the robot are completed based on the research results of the overall structure: According to the superposition principle of deflection calculation,the stiffness analysis of the leg structure and the strength analysis of the head structure are carried out according to the material yield criterion,and the strength and stiffness of both are checked.Through the establishment of the kinematics and dynamics model of autonomous swimming and the use of CFD method,the autonomous swimming simulation of the robot is carried out.The analysis of the influence of the length of flippers and the swimming attitude on the speed,the stability of the body and efficiency is completed,and then the swimming model of the robot is set.According to potential flow theory and viscous fluid related theory,the dynamic analysis of submergence is carried out,and a non-linear mathematical model of the submerged movement is established.With the help of CFD simulation method,the solution of some hydrodynamic coefficients in the mathematical model and the configuration of the submarine power system are completed,which provides the theory for the control of the submarine motion.Then,according to the overall scheme of the robot and the research of the underwater motion performance,the design of the robot control system and the research of the control strategy are completed.For the study of control strategy,through the establishment of the mathematical model of the leg motor,the transfer function of motor is solved;based on the common PID,and fuzzy PID control principles,the motor control system is simulated with MATLAB software and compared with the dynamic of the system to provide the theory for motor control.According to the establishment of the mathematical model of the dive movement,the transfer function of the dive depth control system is solved;based on the common PID and fuzzy PID control principles,the submergence depth control system is simulated by MATLAB software and the dynamic response performance and anti-interference ability of the system are compared,which lays the foundation for the submergence depth control.Lastly,aiming at the theoretical research and simulation analysis mentioned above,an experimental prototype is developed and related experimental research is carried out: the waist movement test and the leg motor control experiment are completed to verify that the theoretical design and research meet the requirements of the subject.Through the underwater autonomous swimming comprehensive test experiment,the autonomous swimming performance test of the robot is completed,and compared with the simulation results and analyzed the causes of the errors,then verified the autonomous swimming performance of the robot.Through the comprehensive test experiment of underwater motion,the test of hydrodynamic coefficient is completed,then the rationality of the mathematical model of underwater motion is verified;The test of the depth determination of the underwater motion is completed,and the performance of the underwater motion based on the fuzzy PID control principle is verified to meet the design requirements of this subject. |
PDF Full Text Request