A hydrodynamic analysis method for a grabbing movement process of an underwater robot and a manipulator system

Abstract

The invention belongs to the field of underwater robots, and particularly relates to a hydrodynamic analysis method for a grabbing movement process of an underwater robot and a manipulator system. Themethod comprises a UVMS system circulating water tank test and CFD numerical simulation. The UVMS circulating water tank test comprises the steps that a plane movement mechanism is used for measuringthe stress of the UVMS in a flow field, wherein different mechanical arm postures of the UVMS are kept in the flow field; and the water tank test is reproduced by using a CFD method, and the accuracyof the CFD method is verified. CFD software is used for conducting numerical simulation on the underwater movement process of the UVMS mechanical arm, and the hydrodynamic coefficient of the underwater mechanical arm is obtained through fitting. A part of complexity can be replaced at the initial design stage of the UVMS system; according to the method, a high pool test is carried out, qualitative and quantitative analysis is carried out on the disturbance effect of the designed mechanical arm on the stress and moment of the UVMS system, the hydrodynamic coefficient of the mechanical arm based on the slice theory is obtained, then an accurate underwater mechanical arm hydrodynamic model is established, and a reference is provided for further optimization design and motion simulation of the UVMS system.

Description

Technical field: [0001] The invention belongs to the field of underwater robots, and in particular relates to a hydrodynamic analysis method for the gripping motion process of an underwater robot and a manipulator system. Background technique: [0002] At present, underwater robots have been more and more widely researched and applied in underwater detection and operation. Although the remote control operation of underwater robots has been widely used in many aspects such as underwater search and rescue, scientific investigation, and underwater engineering support. However, remote control operations not only require the support of a professional mother ship, but also the scope of work is limited by the umbilical cable, especially the simultaneous remote control operation with more than a dozen degrees of freedom of the robot carrier and the manipulator makes the remote control operation extremely complicated. For the autonomous operation of UVMS, it is necessary to master i...

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Problems solved by technology

Modeling of a Complex-Shaped Underwater Vehicle for Robust Control Scheme (Journal of Intelligent and Robotic Systems) focuses on discussing complex-shaped open-frame ROVs using CFD software FLUENT to simulate planar motion Mechanism hydrodynamic test method, using dynamic mesh technology, but the research object is limited to ROV without manipulator

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