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《基于模糊自適應(yīng)的水下機(jī)器人控制系統(tǒng)設(shè)計(jì)論文》由會(huì)員上傳分享，免費(fèi)在線閱讀，更多相關(guān)內(nèi)容在行業(yè)資料-天天文庫(kù)。
1、I摘要我國(guó)江河湖海水域眾多，擁有大量的水下設(shè)施，這些水下設(shè)施的狀況需要及時(shí)檢測(cè)，這就迫切需要一種水下清刷檢測(cè)機(jī)器人來完成這些任務(wù)。本文主要針對(duì)水下構(gòu)筑物表面特點(diǎn)，對(duì)水下構(gòu)筑物清刷檢測(cè)機(jī)器人系統(tǒng)進(jìn)行了設(shè)計(jì)研究。本文首先對(duì)水下機(jī)器人的發(fā)展現(xiàn)狀及趨勢(shì)進(jìn)行了介紹，提出了水下構(gòu)筑物清刷檢測(cè)機(jī)器人整體設(shè)計(jì)方案。本文根據(jù)水下構(gòu)筑物表面特點(diǎn)合理選擇了吸附方式，按照需要進(jìn)行了自由度的選擇，并依據(jù)相關(guān)要求和標(biāo)準(zhǔn)對(duì)各種附件進(jìn)行了選型，對(duì)清刷機(jī)構(gòu)和推進(jìn)系統(tǒng)進(jìn)行了設(shè)計(jì)研究，應(yīng)用三維制圖軟件UG設(shè)計(jì)出機(jī)器人水下部分整體結(jié)構(gòu)，進(jìn)行了重心和浮心的校核，并應(yīng)用有限元分析軟件
2、ANSYS對(duì)框架結(jié)構(gòu)進(jìn)行了應(yīng)力分析。本文還以所設(shè)計(jì)的水下構(gòu)筑物清刷檢測(cè)機(jī)器人為平臺(tái)，建立了固定和運(yùn)動(dòng)坐標(biāo)系，推導(dǎo)出水中一般運(yùn)動(dòng)方程，并根據(jù)水下構(gòu)筑物清刷檢測(cè)機(jī)器人的不同工況，分別對(duì)水中航行工況和水下構(gòu)筑物表面作業(yè)工況進(jìn)行了運(yùn)動(dòng)受力分析。在推進(jìn)系統(tǒng)設(shè)計(jì)上，本文綜合考慮了自由度要求和背力吸附要求，提出了一種六推進(jìn)器布置方案；在推進(jìn)器設(shè)計(jì)中，參照船舶推進(jìn)系統(tǒng)設(shè)計(jì)思路，根據(jù)水下機(jī)器人總體設(shè)計(jì)要求，提出了一種設(shè)計(jì)方法：通過螺旋槳的設(shè)計(jì)理論和現(xiàn)有螺旋槳相關(guān)參數(shù)和特性，求得螺旋槳轉(zhuǎn)速和直徑，從而推算出驅(qū)動(dòng)電機(jī)所需的功率，再進(jìn)行具體設(shè)計(jì)參數(shù)調(diào)整校核。關(guān)鍵詞
3、：水下機(jī)器人；清刷機(jī)構(gòu)；整體結(jié)構(gòu)；推進(jìn)系統(tǒng)；運(yùn)動(dòng)受力分析ABSTRACTIAmongtheenormouslakes,riversandseasdottedinourterritory,thereareplentyofunderwaterfacilitiesthatrequireregularexaminationswhereunderwatercleaninganddetectionsetswouldbeneeded.Inthispaper,forthecharacteristicsofunderwaterstructures,aspec
4、ificunderwatercleaninganddetectionroboticsystemisdesigned.Inthelightofcurrenttendencyofunderwaterrobots,theoveralldesignschemeofthisrobotisreleased.Typeselectionsofattachmentsinaccordancewithrelatedrequestsandstandardscoupledwithresearchesoncleaningmechanismandpropulsionsy
5、stemarecarriedoutafterasuitablesorptionpatternanditsfreedomofmotionhavingbeendeterminedbyvirtueofthefeaturesofunderwaterstructures.StressanalysisoftheframeworkisgivenbyANSYS,priortowhichcentresofgrativityandbuoyancyarecheckedwhenhavingbuiltuptheoverallstructureoftheunderwa
6、terpartsinUG.Inaddition,acommonkinematicequationisdeducedbasedonthetwocoordinatesystemsthatafixedcoordinatesandamovingoneupontheplatformwhichthisrobothasoffered.Theequationhascarriedoutkinematicstressanalysisforboththesubmergenceandthecleaning-detectionoperationsonthebasis
7、ofdifferentworkconditions.Anexperimentresultofstimulatingtheunderwaterrobot’smovementsinbothhorizontalandverticaldirectionsinFLUENTprovesitliveuptoourexpectations.Forthepropulsionsystem,comprehensivelyintegratingfreedomandbackforcesorption,aschemeofsixpropellersisrevealed.
8、Asregardsofthepropellerwhosephilosophyreferstothepropulsionsystemofvesselsandships,accord
