水下船体表面清刷机器人移动机构的研究  

Study of traveling mechanism of underwater robot for cheaning hull

作　　者：袁夫彩 孟庆鑫 王立权[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》2004年第2期127-130,共4页Journal of Harbin Engineering University

基　　金：黑龙江省重点攻关项目(GB03A507).

摘　　要：为了实现机器人在水下船体表面上可靠吸附和灵活运动的功能,开展了水下船体表面清刷机器人移动机构的研究.介绍了水下船体表面移动机构的基本组成、工作原理和方案选择,对该移动机构进行了运动学建模,确定了运动学参数.分别在空气和海水介质中,对该移动机构进行了力学分析,确定了所需的磁吸附力.按照实际的需要,根据磁轮的吸附力,选择了永磁材料,设计了磁轮的结构参数.轮与机架采用弹性元件联接,使得移动机构具有被动柔顺的功能.由于磁轮外表面外套花纹橡胶环,增大了摩擦系数,保护易脆的磁环,使得该机构转弯灵活、不易打滑和吸附可靠.通过实验分析可知,该移动机构不仅适于水下船体表面上的运动,也适于水上船体表面上的运动.The traveling mechanism of a ship's cleaning robot is studied so as to implement the robot's function of (reliable) absorbing and agile traveling. Note:This seems unnecessary.The kinematic model of the traveling mechanism is set up so that the kinematic parameters are determined. Force analysis of the traveling mechanism is made in air and seawater medium separately so that the least magnetic-absorbing force is determined at last. According to the practical need and the absorbing force, the permanent magnetic material is chosen and the structure parameters of the magnetic wheel are designed. The wheel is interlinked with the machine base by a flexible component in (order) to make the machine possess the function of passive submissiveness. A rubber ring with the greater friction coefficient on the surface of the magnetism wheel protects the frangible magnetic ring, so that the mechanism can be flexible to turn, difficult to skid and reliable to absorb. Based on experimental analysis, the conclusion is obtained that the mechanism is suitable for traveling not only on the surface of the hull underwater, but also on the surface (above) water.

关 键 词：机器人 移动机构 磁轮 运动学建模 力学分析 

分 类 号：U672.1[交通运输工程—船舶及航道工程]