海上施工辅助机器人核心部件计量测试技术研究
发布时间：2018-09-12 11:07
【摘要】：海上交通运输线是国民经济的命脉,交通运输设施及其施工设备能够获取相关海域的环境参数。作为施工第一辅助设备的水下机器人,其国产化率尤为注目。考虑到国产水下机器人能够更好地适应我国邻海交通运输设施建设的特殊海洋环境,制定相关国家标准、开发相应计量测试平台,是迎接WTO"零关税"挑战的唯一手段。针对海上施工环境水流流速大、平潮期短及施工环境复杂的特点,对辅助作业机器人提出了顶流作业能力、控制精度高及作业灵活的要求。本文基于这三点要求,针对对水下机器人的推进器、作业机械手及核心执行器的综合性能,开发计量测试平台,并进行针对性的计量测试及精度保障研究,保障海上施工辅助机器人在恶劣工况下稳定、灵活地完成作业。本文通过六个章节,对上述问题进行详细介绍:第一章,主要介绍了论文的研究背景,水下机器人各核心部件即推进器、机械手及执行器的测试研究现状,基于海上辅助施工需求和各核心部件测试技术的优缺点分析,提出了本论文的研究意义和主要研究内容。第二章,基于海上交通建设辅助施工的应用需求及国家标准测试要求,对推进器和机械手的各执行器提出的性能参数指标,进行计量测试和分析研究,并对关键性能测试参数进行误差分析研究,保证各执行器计量测试的精度和准确性。第三章,基于国家标准提出针对推进器的测试方法和参数要求,在水下环境下进行实际运行测试,并与电机测试数据进行融合分析得到单位轴功率下系柱推力,来衡量推进器实际水下工作性能,并对深水推进器各关键被测量进行误差分析研究,保证推进器测试性能的可靠性。第四章,基于国家标准提出了针对作业机械手的测试方法和指标要求,通过机械手的建模和参数分析,对其作业空间包络线进行分析研究及测试,针对各单关节的运动控制性能进行测试。并对于机械手各项测试参数进行误差分析研究,保证机械手测试性能的准确性和机械手的计量测试精度。第五章,具体针对YK-DT-075型电推进器及YK-MA710A型机械手各项测试进行综合分析,结合各项被测量的误差度得到测量值的精确范围,基于技术指标对各项性能进行分析评估,最终得到被测推进器和被测机械手的综合性能。第六章,对全文的主要研究工作进行总结,并针对论文研究的不足之处提出进一步的研究及提高方向。
[Abstract]:Maritime transportation line is the lifeblood of national economy. Transportation facilities and their construction equipment can obtain the environmental parameters of the relevant sea area. As the first auxiliary equipment of construction underwater vehicle, its localization rate is particularly noticeable. Considering that the domestic underwater vehicle can better adapt to the special marine environment of transportation facilities construction near the sea in China, it is the only way to meet the challenge of "zero tariff" of WTO to make relevant national standards and develop the corresponding metrological test platform. In view of the characteristics of large flow velocity, short flat tide period and complex construction environment in offshore construction environment, the requirements of top flow operation ability, high control precision and flexible operation are put forward for the auxiliary robot. Based on these three requirements, this paper develops a metrological test platform for the comprehensive performance of the underwater vehicle's thrusters, manipulators and core actuators, and makes a targeted research on the measurement test and precision guarantee. To ensure the stability and flexibility of the offshore construction auxiliary robot under the bad working conditions. This paper introduces the above problems in detail through six chapters: the first chapter mainly introduces the research background of the thesis, the status quo of the testing and research of the core components of underwater vehicle, namely, the propeller, the manipulator and the actuator. Based on the analysis of the requirements of offshore auxiliary construction and the advantages and disadvantages of each core component test technology, the research significance and main research contents of this paper are put forward. In the second chapter, based on the requirements of the application of marine traffic construction auxiliary construction and the national standard test requirements, the performance parameters of the actuators of the propeller and manipulator are measured, tested and analyzed. The error analysis of the key performance test parameters is carried out to ensure the accuracy and accuracy of the metering and testing of the actuators. In the third chapter, based on the national standard, the test method and parameter requirement of propeller are put forward, and the actual running test is carried out under underwater environment, and the pillar thrust under unit shaft power is obtained by fusion analysis with motor test data. To measure the actual underwater performance of the thruster and analyze the errors of the key measurements of the deep-water thruster to ensure the reliability of the testing performance of the thruster. In the fourth chapter, based on the national standard, the testing method and index requirement of the manipulator are put forward. Through the modeling and parameter analysis of the manipulator, the envelope line in the operating space is analyzed and tested. The motion control performance of each single joint is tested. In order to ensure the accuracy of the testing performance and the measuring accuracy of the manipulator, the error analysis of the testing parameters of the manipulator is carried out in order to ensure the accuracy of the testing performance of the manipulator. In the fifth chapter, according to the comprehensive analysis of each test of YK-DT-075 electric thruster and YK-MA710A manipulator, combined with the accurate range of the measured error, the performance is analyzed and evaluated based on the technical index. Finally, the comprehensive performance of the tested propeller and the tested manipulator is obtained. In chapter 6, the main research work of the thesis is summarized, and the further research and improvement direction are put forward in view of the deficiency of the thesis.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U674.941;TP242
本文编号：2238811
[Abstract]:Maritime transportation line is the lifeblood of national economy. Transportation facilities and their construction equipment can obtain the environmental parameters of the relevant sea area. As the first auxiliary equipment of construction underwater vehicle, its localization rate is particularly noticeable. Considering that the domestic underwater vehicle can better adapt to the special marine environment of transportation facilities construction near the sea in China, it is the only way to meet the challenge of "zero tariff" of WTO to make relevant national standards and develop the corresponding metrological test platform. In view of the characteristics of large flow velocity, short flat tide period and complex construction environment in offshore construction environment, the requirements of top flow operation ability, high control precision and flexible operation are put forward for the auxiliary robot. Based on these three requirements, this paper develops a metrological test platform for the comprehensive performance of the underwater vehicle's thrusters, manipulators and core actuators, and makes a targeted research on the measurement test and precision guarantee. To ensure the stability and flexibility of the offshore construction auxiliary robot under the bad working conditions. This paper introduces the above problems in detail through six chapters: the first chapter mainly introduces the research background of the thesis, the status quo of the testing and research of the core components of underwater vehicle, namely, the propeller, the manipulator and the actuator. Based on the analysis of the requirements of offshore auxiliary construction and the advantages and disadvantages of each core component test technology, the research significance and main research contents of this paper are put forward. In the second chapter, based on the requirements of the application of marine traffic construction auxiliary construction and the national standard test requirements, the performance parameters of the actuators of the propeller and manipulator are measured, tested and analyzed. The error analysis of the key performance test parameters is carried out to ensure the accuracy and accuracy of the metering and testing of the actuators. In the third chapter, based on the national standard, the test method and parameter requirement of propeller are put forward, and the actual running test is carried out under underwater environment, and the pillar thrust under unit shaft power is obtained by fusion analysis with motor test data. To measure the actual underwater performance of the thruster and analyze the errors of the key measurements of the deep-water thruster to ensure the reliability of the testing performance of the thruster. In the fourth chapter, based on the national standard, the testing method and index requirement of the manipulator are put forward. Through the modeling and parameter analysis of the manipulator, the envelope line in the operating space is analyzed and tested. The motion control performance of each single joint is tested. In order to ensure the accuracy of the testing performance and the measuring accuracy of the manipulator, the error analysis of the testing parameters of the manipulator is carried out in order to ensure the accuracy of the testing performance of the manipulator. In the fifth chapter, according to the comprehensive analysis of each test of YK-DT-075 electric thruster and YK-MA710A manipulator, combined with the accurate range of the measured error, the performance is analyzed and evaluated based on the technical index. Finally, the comprehensive performance of the tested propeller and the tested manipulator is obtained. In chapter 6, the main research work of the thesis is summarized, and the further research and improvement direction are put forward in view of the deficiency of the thesis.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U674.941;TP242
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