Dynamics Study Of The Drilling Exper-Iment Platform For Underwater Wall-Climbing Robot

In the detection and maintenance of underwater defects in the dike, we are in urgent need of an automated equipment to replace the artificial underwater drilling operations at this stage.In the dam plane, underwater climbing wall robot is an ideal construction equipment carrying platform. The influence of the drilling process on the adsorption capacity of the wall-climbing robot is studied. It is of great practical significance to study the dynamic model of the drilling process.In this paper,the dynamic behavior of underwater wall-climbing robot is studied,and a dy-namic experimental platform is established according to the experimental modal analysis. This experimental table includes mechanical structure, experimental modal test system, modal param-eter identification algorithm.The mechanics model of drilling process is simplified according to the characteristics of the drilling process in the adsorption state and the existing conditions of the laboratory. The mechan-ical part of the drilling experimental platform is built according to the mechanical model. The counterweight is used to simulate a simplified suction force after constant force.The virtual prototype model is established by using ADAMS. The influence of stiffness varia-tion on low order mode and excitation response is analyzed in frequency domain and time domain respectively. And in the aspect of modal parameter identification algorithm, based on the modal parameter identification frequency domain method, orthogonal polynomial fitting algorithm based on Forsythe orthogonal polynomial is adopted. The method is used to fit the frequency response function obtained by spectral estimation, so the modal parameters of the system can be obtained.And the method is used to verify the parameters of the virtual prototype.In the measuring system part of the experimental modal test system, in order to simplify the system, the excitation device adopts the force hammer, the measurement adopts the ICP piezoelec-tric force sensor and the ICP acceleration sensor, the data acquisition system takes cRIO as the core,communicates with the upper computer through the ethernet,and then collected data is saved and processed. And using this test system, the experimental mode of the feed system is analyzed to verify the correctness of the theoretical model.