In order to meet operational requirements for underwater inspection of hulls when vessels are sailing far out to sea,which is inspired by the self-designed underwater maintenance robotic arm system.An underwater camera was installed in its end actuator to act as a replacement for divers in the water for inspection operations,and the control stability of the built underwater maintenance ro-bot arm inspection system was analysed and verified.Firstly,the inspection system dynamic equation was set based on Lagrange functions,and the water resistance of each joint in the inspection system was computed by the Fluent software under different flow conditions.Secondly,the calculated water saving resistance was added to the dynamic simulation analysis whereby the underwater maintenance manipulator fault detection system was performed using Matlab software.The torques of each joint in different environments were obtained,and the influential resistance factors were determined.Finally,motion control tests were carried out on the inspection system of the mechanical arm in air and under-water environments.The feedback and simulation results are compared so that the control stability of the inspection system of the underwater maintenance mechanical arm was verified,which provides data and experimental support for the application of the actual underwater inspection operation of ships on long voyages.
关键词
水下机械臂/水下探伤/流体动力学/运动控制
Key words
underwater manipulator/underwater flaw detection/hydrodynamics/motor control
维普
万方数据