舰船水下应急维修机械臂性能分析  

Performance Analysis of Underwater Emergency Maintenance Manipulator

作　　者：胡淼 韩江桂[1] 郭文勇[1] HU Miao;HAN Jianggui;GUO Wenyong(College of Power Engineering,Naval University of Engineering,Wuhan 430033)

机构地区：[1]海军工程大学动力工程学院,武汉430033

出　　处：《舰船电子工程》2021年第8期104-109,共6页Ship Electronic Engineering

基　　金：国家部委科研项目(编号:HJ20182C070236)资助。

摘　　要：水下机械臂在对舰船进行水下维修作业时的水动力性能受水流载荷的影响较大,为了保持舰船水下应急维修机械臂的最佳性能,减少水流荷载对水下机械臂运动的影响,论文使用Fluent模拟得到水下机械臂进行水下作业时的水阻力和水阻力矩并对其水动力性能进行分析。分析结果显示:水下机械臂的水动力性能受机械臂工作姿态的影响;该型船用水下机械臂关节动能稳定变化,符合机械臂关节设计要求;水下机械臂进行水下作业时的驱动力矩受关节速度的影响。以上分析结果可为舰船水下维修机械臂的结构优化和驱动装置等的选型提供参考依据。The hydrodynamic performance of underwater manipulators is greatly affected by the current load when performing underwater repair operations on ships.In order to maintain the best performance of the underwater emergency maintenance manipulator and reduce the impact of the current load on the motion of the underwater manipulator,the paper uses Fluent simulation to obtain the water resistance and torque of the underwater manipulator during underwater operation,and analyzes its hydraulic performance,the results show that the hydraulic performance of the underwater manipulator is affected by the working attitude of the manipulator,the kinetic energy of the joint of the underwater manipulator changes steadily,which meets the design requirements of the manipulator joint,the driving torque of the underwater manipulator is affected by the joint speed.The above analysis results can provide a reference for the structure optimization and drive device selection of underwater maintenance manipulator.

关 键 词：水下机械臂 水动力学 湍流模型 水阻力 水阻力矩 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]