有缆水下机器人结构设计与分析

发布时间：2018-06-11 17:45

本文选题：水下机器人 + 结构设计　；参考：《杭州电子科技大学》2017年硕士论文

【摘要】：目前,我国海洋事业处于迅猛发展阶段,有缆水下机器人(ROV)作为一种新型海洋高科技设备,在海洋资源开采、海洋安检、水下观测、水下考古、海洋救援与打捞等众多方面均有广泛应用。通过对国内外现有ROV仔细调查与研究,本文提出一种水下机器人结构,并对其进行了运动学与流体力学仿真研究。首先,根据水下机器人的应用目标要求,制定了以浮体材料、载体框架、推进器、耐压壳体、液压机械手以及其他配件为六个基本模块的方案,浮体材料给ROV提供合适的浮力,使得水下机器人本体达到零浮力状态,五个推进器之间相互配合,使ROV能在水下自由运动。并用有限元分析软件SolidWorks Simulation对其中的一些重要承力部件,如载体框架、耐压壳体以及起吊环等,进行了强度校核。其次,对三维模型建立了运动学模型,通过建立固定坐标系和运动坐标系,并推导两者之前转换式,在此基础上求解出了简化的ROV六自由度运动表达式。之后,利用流体软件Flow Simulation对ROV进行初步的水下流体性能分析,模拟出ROV在水下运动时本体的受力情况,并分析了ROV在不同水下航行速度下所受阻力特性。最后,详细描述了水下运动实验结果,并分别与仿真数据、理论模型进行了对比。
[Abstract]:At present, China's marine industry is in a rapid development stage. As a new type of marine high-tech equipment, the underwater vehicle (ROV) has been used in marine resources mining, marine security inspection, underwater observation, underwater archaeology, Ocean rescue and salvage are widely used in many fields. Through careful investigation and research on the existing ROV at home and abroad, this paper presents a structure of underwater vehicle, and studies its kinematics and hydrodynamics simulation. First of all, according to the requirements of underwater vehicle application, six basic modules including floating body material, carrier frame, propeller, pressure proof shell, hydraulic manipulator and other accessories are developed. The floating body material provides suitable buoyancy for ROV. The body of underwater vehicle reaches zero buoyancy and the five propellers cooperate with each other so that ROV can move freely under water. The strength of some important load-bearing components, such as carrier frame, pressure-resistant shell and hoisting ring, are checked by SolidWorks Simulation. Secondly, the kinematics model of the 3D model is established. By establishing the fixed coordinate system and the kinematic coordinate system, and deducing the transformation formula before the two models, the simplified ROV six-degree-of-freedom motion expression is solved. Then, the underwater fluid performance of ROV is analyzed by flow simulation, and the force acting on ROV is simulated, and the resistance characteristics of ROV under different underwater velocities are analyzed. Finally, the experimental results of underwater motion are described in detail and compared with simulation data and theoretical model.
【学位授予单位】：杭州电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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