Research On Modular Underwater Snake-like Robot For Submarine Oil Pipeline Detection

The underwater snake-like robot is an important branch of the underwater robot.Its unique multi-degree-of-freedom mechanism enables it to change its shape and angle to achieve an approximate snake-like motion and obstacle avoidance.The underwater snake-like robot is expected to perform concealed work in places that are difficult for humans to reach,increase the safety factor,reduce a series of errors caused by human beings due to physical insufficiency and other factors,and free humans from dangerous underwater work environments.The underwater snake-like robot will play a huge role in military reconnaissance,seabed resource survey,leak detection of submarine oil pipelines,maintenance of underwater working platforms and underwater archaeology.The existing underwater snake-like robot has a slow speed,its mobility needs to be improved,and it is difficult to pass through the complex and narrow underwater area only by meandering motion.In view of the above problems,this paper designs a new modular underwater snake-like robot.Each joint of the underwater snake-like robot has two degrees of freedom,yaw and pitch,and is equipped with multiple propellers,which can realize multi-gait underwater motion and improve the flexibility and mobility of the robot.The research contents of this paper are as follows:1.According to the underwater performance requirements of snake-like robot,the structural design of underwater snake-like robot is completed,and the carrier structural design,sealing design,anti-corrosion design and balance design of snake-like robot are introduced in detail.2.Aiming at the motion control problem of underwater snake-like robot,the kinematics analysis of propeller push motion and compound motion is completed,and the kinematics model of underwater snake-like robot is established.The mathematical model of propulsion system is established.3.Aiming at the forward speed control problem of underwater snake-like robot,the relationship between forward speed,propeller thrust and motor speed is analyzed;The motor speed control model is established,and the joint simulation of PID and fuzzy PID is carried out.4.According to the control requirements of underwater meandering motion and propeller push motion of snake-like robot,the software and hardware design of the underwater motion control system of the snake-like robot is completed,and the motion control of the robot can be realized by using the human-computer interface.5.To test the flexibility and mobility of snake-like robot,the underwater prototype test is carried out.The motion flexibility of snake-like robot is verified by single joint and meandering motion experiments;The propeller push motion test is carried out in two modes of three-cabin and five-cabin to verify the modular function and mobility of the snake-like robot.