Kinematic simulation of underwater crawling of dredging robot based on recurdyn
Aiming at the problem that industrial silt in settling tank was difficult to clean up,a crawler-type underwater dredging robot which can adapt to complex environment was designed.A crawler-type moving mechanism was used by the silt removal robot to adapt to soft mud layer.The stability of the dredging robot driving on flat ground and up and down slopes were analyzed,and the feasible region of the center of buoyancy of dredging robot running stably was obtained.The dynamic model of a dredging robot was built based on RecurDyn simulation software,and different types of terrain environment and working conditions were analyzed when the robot operating underwater.The results indicate that the buoyancy set in the center of buoyancy domain when the stability of the robot is higher.The height of the center of mass of the dredging robot can always remain stable and meet the design requirements.It is confirmed that the dredging robot can stably pass through 15° slopes and 100 mm obstacle,which proves that the design of the dredging robot can adapt to the complex underwater environment.
NETL
NSTL
万方数据
