| With the development of the state marine development and the increase in the number of submarine cable project,but the construction of transmission cables,operation and maintenance techniques and tools has lagged far behind its growth,there is no effective means of monitoring the situation submarine cable.ROV technology as a high-tech marine equipment technology,has been applied to the field of application of underwater exploration,archeology,underwater security,underwater operations.With the increasingly wide range and field,the overall technology has gradually matured,the ROV technology for submarine cables's inspection and construction has become very important and urgent.This article relates to an ROV structure design and dynamics simulation,the design of ROV ontology and some equipment,the main work are as follows.Chapter One,discusses the basic research status of the ROV,the basic principle of the ROV,it outlines the origin and significance of the subject.Chapter Two,according to this inspection submarine design requirements and goals,the research of the overall scheme is carried out.Including the overall structure of the ROV carrier design,pressure cylinder design concept and scheme selection,research on electric power supply program,the seal and the balance of the ROV.Chapter three,For the ROV carrier frame and select materials were the main components of a simple analysis,a detailed design calculations and simulation analysis software verification.Chapter four,the establishment of a virtual prototype ROV,established the ROV kinematics and dynamics model,made a simple analysis.Chapter five,for the selection and design of hardware and software development ROV control system were studied and analyzed.Chapter six,laboratory testing,the lake and the marina try the experiment were presented and summary,existing work includes experimental and other emerging issues were summarized,put forward practical amendments.Chapter seven,the full text summary,and follow-up experiment prospected. |
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