水下船体表面清刷机器人吸附及移动性能分析  

Analysis of adsorption and movement performance of underwater robot for cleaning hull

作　　者：袁夫彩 孟庆鑫 王义文[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2006年第2期272-275,共4页Journal of Harbin Engineering University

基　　金：黑龙江省重点攻关基金资助项目(GB03A507)

摘　　要：为了保证水下船体表面清刷机器人吸附可靠和运动灵活,需要合理地确定机器人的吸附力和驱动力矩.首先介绍了机器人的工作原理,以及机器人可能遇到的危险状态;然后对机器人进行了力学分析,建立了机器人相对船体表面静止和运动时的力学和数学模型,运用“极值寻优法”,确定了机器人在水下船体表面上工作时所需最小的吸附力和驱动力矩;运用MATLAB对数学模型进行了仿真分析,分析结果与上述理论计算结果相符.这些研究为确定机器人的吸附力和驱动力矩提供了理论依据,保证了机器人在水下船体表面上吸附和移动的可靠性.To assure adsorption reliability and movement agility of an underwater robot that will clean a ship＇s hull, the adsorbability and drive torque should be ascertained properly. Here, the robot＇s working theory and potential challenges were introduced. Then the robot was analyzed mechanically and a mathematical model was established whether the robot was static or moving on the hull. The minimum requirements of adsorbability and drive torque were ascertained by extremum optimum design, when the robot was working underwater on a hull. The mathematical model was also analyzed using MATLAB simulation software. The research provides basic theoretical information on ascertaining the absorbability and drive torque of a robot, and assures the adsorption reliability,and movement agility of the robot on an underwater hull.

关 键 词：机器人 力学分析 仿真 水下船体表面 

分 类 号：U672.1[交通运输工程—船舶及航道工程]