水下捕捞机器人关键技术研究

发布时间：2018-10-09 16:00

【摘要】：本论文针对水下捕捞设计了一种水下捕捞机器人,对其关键技术进行研究。首先,基于仿生学理论,设计了一种新型水下推进装置。其利用曲柄摇杆机构的急回特性,通过电机的连续转动带动摇杆往复摆动,实现水下机器人的推进。本推进装置的优势是具有多个推进鳍,也提高了推进效率。同时避免了传统采用螺旋桨作为推进装置的一些缺点。运用MATLAB对其传动机构进行优化设计。基于抛载变浮力原理,完成了水下捕捞机器人浮沉装置的结构设计。针对不同的结构,选用合适的材料。并运用SolidWorks软件进行建模,通过ANSYS Workbench对浮沉装置的压载水舱进行了应力分析,根据分析得结果得出设计的耐压壳体能够满足水下50米工作的要求。根据水下环境的特殊性,设计了一种可以实现灯光实时跟踪的自动定位系统。根据自动定位系统的机械结构,建立了其的运动学数学模型。运用D-H法求出了自动定位系统的正运动学方程,运用代数法求出其逆解,阐明了自动定位系统中视觉系统的主动云台和照明系统的随动云台的俯仰角度的关系。解决了由于光的折射对目标定位的影响,从而提高水下目标定位精度。本论文根据课题任务要求,设计了一种水下机械手,与自动定位系统组成自动捕捞系统。建立自动捕捞系统的运动学模型,对其运动学正解进行求解,采用代数逆解方法求得其逆解。在MATLAB里采用蒙特卡洛法对水下机械手的工作进行分析研究。
[Abstract]:In this paper, a kind of underwater fishing robot is designed for underwater fishing, and its key technology is studied. Firstly, a new underwater propulsion device is designed based on bionics theory. By using the quick return characteristic of crank rocker mechanism and the continuous rotation of motor, the rocker rod is swung back and forth to realize the propulsion of underwater vehicle. The advantage of the propulsion device is that it has multiple propulsion fins and improves the propulsion efficiency. At the same time, some disadvantages of traditional propeller as propulsion device are avoided. MATLAB is used to optimize the design of transmission mechanism. Based on the principle of variable buoyancy, the structure design of underwater fishing robot is completed. Select suitable materials for different structures. The SolidWorks software is used to model the model, and the stress analysis of ballast tank of floating and sinking device is carried out by ANSYS Workbench. According to the analysis results, the design pressure shell can meet the requirement of underwater work of 50 meters. According to the particularity of underwater environment, an automatic positioning system is designed, which can realize real-time lighting tracking. According to the mechanical structure of the automatic positioning system, the kinematics mathematical model is established. The positive kinematics equation of the automatic positioning system is obtained by using D-H method, the inverse solution is obtained by using the algebraic method, and the relation between the active cloud head of the vision system in the automatic positioning system and the pitch angle of the following cloud head of the lighting system is clarified. The effect of light refraction on target location is solved, and the accuracy of underwater target location is improved. According to the task requirement, an underwater manipulator is designed in this paper, which is composed of an automatic fishing system and an automatic positioning system. The kinematics model of automatic fishing system is established and the positive kinematics solution is solved. The inverse solution is obtained by algebraic inverse solution method. The work of underwater manipulator is studied by Monte Carlo method in MATLAB.
【学位授予单位】：山东科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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