Structural Design Optimization Of Cross-domain Marine Robot

The water-air cross-domain Marine robot is a kind of water-air amphibious robot that can realize the three states of vertical take-off and landing on the water surface,aerial patrolling and underwater diving.It has the advantages of both the hidden navigation of underwater robot and the high-speed long-distance maneuvering of unmanned aerial vehicle,and can realize the reciprocating cross-domain and navigation functions in the underwater air.This kind of unmanned system,which combines the characteristics of various unmanned systems and is composed of a single platform,avoids the task complexity and low reliability caused by the collaborative work of surface,air and underwater,and represents the development trend of maritime unmanned systems.In the design process,this paper focuses on solving the difficulties of transmedium transition mode and structural shape design,aiming at designing a transdomain ocean robot with lighter mass and longer cruise time.The main research contents include:First of all,this paper designs a kind of cross-domain ocean robot which integrates fixed wing and rotor(tilt),and designs the main structure:tilt mechanism,cabin shape and wing.Among them,the wing design is based on the wing load,thrust-to-weight ratio and Reynolds number to select the appropriate airfoil and wing plane shape to determine the geometry of the wing.Secondly,Starccm platform based on different wing layout analysis,after analyzing the grid independence than lift coefficient and drag coefficient,lift-to-drag ratio and lift-to-drag curve,the selection of the optimal layout and design a self-locking performance of folding wings,when the agency in the surface vertical take-off and landing and which will pack up the wing,Extend the wings to switch fixed wing status during air patrol.Adams was used to optimize the dynamics simulation of the folding mechanism,select the appropriate motor,and check the strength of the hollow wing.Thirdly,local lightweight design is carried out.In this paper,the cross-domain Marine robot cabin and wing skeleton are taken as the research objects,and the layout and lightweight of stiffeners are studied respectively.Among them,the wing frame adopts the two-stage optimization method,the topology optimization and the size optimization successively.Then,modal analysis of the optimized object is carried out to guide the avoidance of the resonance phenomenon of the optimized model,so as to provide a solution for the lightweight design of cross-domain ocean robot.Finally,the principle prototype test is carried out.Through the test of two principle prototypes,it can be determined that the design scheme can realize the functions of water surface vertical take-off and landing,air flight and underwater diving in terms of structure,and the design method is verified.