Deformable Walking Mechanism Design Of Deep-sea Rover ROV And Research On Motion Performance

The deep-seabed terrain is complex and varied.It has not only a flat,soft surface covered with sediment but also a steep,rugged ground.This puts higher demands on the exploration and operation of deep-sea exploration equipment,how to carry out sophisticated,efficient,low-cost exploration and operation on complex,steep deep-seabed terrain has become a technical challenge for current marine equipment.This article aims at this challenge,proposing to develop a crawling underwater robot that can adapt to the complex terrain of the deep-sea bottom.Naming the underwater robot is "Deep-Sea Rover ROV".This article research on working around the Rover ROV,the main research contents of the thesis include:(1)The background and significance of studying the Deep-sea Rover ROV are introduced.The research status and development trend of crawling underwater robots in deep-sea and offshore areas are summarized.(2)Analysing the configuration that suitable for the adaptive walking of the Rover ROV.The structural design of each parts of the Rover ROV's deformable walking mechanism and selection and calculation of key components is completed.Combining the functional needs of the Rover ROV and non-structural environment at bottom of deep-sea,analyzing and comparing each part of the robot and then determinating the final structural program.(3)Based on the theory of vehicle ground mechanics,the interaction model and calculation method of crawler-sediment for the Rover ROV are analyzed.The relationship between traction force and slip ratio and the water resistance and the indentation resistance of the Rover ROV during driving are obtained.It all provides theoretical support for crawling control of the Rover ROV.(4)The obstacle performance of the Rover ROV crossing different obstacles is studied.The key state of the Rover ROV crossing different obstacles is analyzed under the influence of floating center and buoyancy.Comparing various key states,the extreme size of different obstacles that the Rover ROV can overcome is obtained.(5)Establishing the Rover ROV's dynamics simulation platform.Analyzing different obstacles through dynamic simulation platform to verify the robot's ability to overcome obstacles and obtain the curve of torque during crossing the obstacle.At the same time,the accuracy of the simulation analysis results and the rationality of the structural parameters are verified by the torque test.(6)Summarizing the research content and main conclusions of this paper,and looking forward to the future research direction.