Research On Propulsive Performance And Posture Tracking Control Of Vector Propulsion Mechanism With UPR-UPU-UR Configuration

In order to realize that the propulsion device of the underwater robot has the function of spatial attitude adjustment and large torque power transmission,to ensure that the underwater robot successfully completes the underwater task.For this reason,this paper proposes the UPR-UPU-UR vector propulsion mechanism as the propulsion device of the underwater robot.The paper starts with theoretical research,through simulation calculation and experimental verification,the UPR-UPU-UR vector propulsion mechanism has good vector propulsion performance and convenient and quick maneuverability.The specific research contents are as follows:(1)Innovative design of a UPR-UPU-UR vector propulsion mechanism,using the screw theory to calculate the degree of freedom of the vector propulsion mechanism,and construct the position model of the vector propulsion mechanism.Based on the velocity Jacobian matrix,the velocity and acceleration are modeled,and the movement change law of the branch chain of the vector propulsion mechanism is obtained.The motion performance index of the vector propulsion mechanism is calculated,and the propulsion performance of the vector propulsion mechanism is evaluated.(2)The dynamics model of vector propulsion mechanism is constructed,and the dynamic relationship between the motion law of the moving platform and the driving torque was solved.Using ADAMS and Simulink co-simulation technology to build a motion control system for virtual prototypes,and introducing PID control strategies to achieve precise control of the motion track of the moving platform.Co-simulation verifies the control effect of the motion control system,and provides a correct theoretical basis for the subsequent processing,manufacturing and debugging of physical prototypes.(3)Construct a vector propulsion underwater robot,introduce adaptive control technology based on friction compensation,design a fuzzy controller,build a propulsion navigation control system,and carry out the posture tracking control of the underwater robot in various motion modes,and the space path tracking control is also carried out,which shows that underwater vehicle maneuvering has flexible performance and maneuverability of propulsion navigation.(4)The experimental prototype of the vector propulsion mechanism was built,the motion drive control system of the vector propulsion mechanism was debugged,the posture adjustment experiment of the moving platform was carried out,and the motion experiment of various modes of the underwater robot is carried out.The experiment results show that the vector propulsion mechanism effectively improves the maneuverability of the underwater robot in underwater operations.