基于CEL的海底攻泥机器人运动的有限元分析
发布时间：2018-07-14 19:10
【摘要】：传统打捞作业普遍采用浮筒打捞法。在打捞作业中,需要潜水员在水下手动操作攻泥器来攻打出千斤洞。若打捞作业在深水区及污染严重的港湾、航道中进行,作业困难并有危险。由此,需要开发设计能自动攻泥作业以完成穿缆任务的攻泥机器人代替潜水员进行海底穿缆作业。为了完成穿缆作业,在土质满足攻泥机器人的工作条件下,需要相应土质下攻泥机器人的运动参数以设计其运动轨迹并编写自动攻泥运动程序。攻泥机器人是在土体对其作用的支撑力和阻力的协调作用下驱动前进的,攻泥机器人的运动参数是两者共同作用的结果。那么,研究攻泥机器人的工作条件和不同土质下的运动参数以及攻泥机器人的运动机理是此文的主要任务。攻泥机器人直行攻泥运动由连续多个攻泥步组成,在每个攻泥步,土体产生较大变形以致破坏。此文基于CEL(Coupled Eulerian-Lagrangian Method)大变形有限元法模拟攻泥机器人在饱和海洋粘土中的直行攻泥运动和转动攻泥运动,土体为理想弹塑性体,采用Treseca准则、相关流动法则,通过欧拉-拉格朗日耦合算法实现攻泥机器人与土体相互作用和三维空间中土体大变形破坏的模拟计算,通过ABAQUS中的连接单元实现攻泥机器人的伸缩运动。模拟结果表明:对于确定尺寸的攻泥机器人,其使用条件与土体的不排水强度及刚度和攻泥机器人的运动方向有关;攻泥机器人的攻泥平均速度和平均加速度可用作主要设计参数;收尾步骤,攻泥机器人的受力情况对运行速度大小起到决定性作用;支撑A受到的端部支撑力和侧面支撑力对转动攻泥运动影响较大。
[Abstract]:The traditional fishing operation generally adopts buoy fishing method. In the salvage operation, divers are required to manually operate the dredger under water to attack a thousand catty holes. If salvage operations are carried out in deep water areas and polluted harbors and waterways, the operation is difficult and dangerous. Therefore, it is necessary to develop and design a dredging robot capable of automatic dredging to complete the cable penetration task instead of submarine cable penetration by divers. In order to complete the cable penetrating operation, under the condition that the soil quality satisfies the working condition of the mud attack robot, the corresponding motion parameters of the mud penetrating robot are required to design its motion track and write the automatic mud attack motion program. The robot is driven forward by the coordinated action of soil supporting force and resistance, and the motion parameters of the robot are the result of the interaction between the two. Therefore, the main task of this paper is to study the working conditions of mud tapping robot, the motion parameters under different soil quality and the motion mechanism of mud tapping robot. The movement of mud attack robot is composed of successive mud tapping steps. In each mud attack step, the soil is deformed and destroyed. Based on CEL (coupled Eulerian-Lagrangian method) large deformation finite element method (FEM) is used to simulate the direct and rotational movement of mud attack robot in saturated marine clay. The soil is an ideal elastoplastic body. Treseca criterion is adopted and the relevant flow rule is used. The simulation calculation of the interaction between mud tapping robot and soil and the large deformation and failure of soil in three dimensional space is realized by Euler-Lagrangian coupling algorithm, and the expansion and expansion motion of dredging robot is realized by the connection unit in Abaqus. The simulation results show that the operating conditions are related to the undrained strength and stiffness of the soil mass and the movement direction of the dredging robot. The average velocity and average acceleration of mud tapping robot can be used as the main design parameters, and the force condition of the robot plays a decisive role in the final stage. The end support force and side support force of support A have great influence on the movement of rotary mud attack.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U676.63
本文编号：2122670
[Abstract]:The traditional fishing operation generally adopts buoy fishing method. In the salvage operation, divers are required to manually operate the dredger under water to attack a thousand catty holes. If salvage operations are carried out in deep water areas and polluted harbors and waterways, the operation is difficult and dangerous. Therefore, it is necessary to develop and design a dredging robot capable of automatic dredging to complete the cable penetration task instead of submarine cable penetration by divers. In order to complete the cable penetrating operation, under the condition that the soil quality satisfies the working condition of the mud attack robot, the corresponding motion parameters of the mud penetrating robot are required to design its motion track and write the automatic mud attack motion program. The robot is driven forward by the coordinated action of soil supporting force and resistance, and the motion parameters of the robot are the result of the interaction between the two. Therefore, the main task of this paper is to study the working conditions of mud tapping robot, the motion parameters under different soil quality and the motion mechanism of mud tapping robot. The movement of mud attack robot is composed of successive mud tapping steps. In each mud attack step, the soil is deformed and destroyed. Based on CEL (coupled Eulerian-Lagrangian method) large deformation finite element method (FEM) is used to simulate the direct and rotational movement of mud attack robot in saturated marine clay. The soil is an ideal elastoplastic body. Treseca criterion is adopted and the relevant flow rule is used. The simulation calculation of the interaction between mud tapping robot and soil and the large deformation and failure of soil in three dimensional space is realized by Euler-Lagrangian coupling algorithm, and the expansion and expansion motion of dredging robot is realized by the connection unit in Abaqus. The simulation results show that the operating conditions are related to the undrained strength and stiffness of the soil mass and the movement direction of the dredging robot. The average velocity and average acceleration of mud tapping robot can be used as the main design parameters, and the force condition of the robot plays a decisive role in the final stage. The end support force and side support force of support A have great influence on the movement of rotary mud attack.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U676.63
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