The Kinematics And Path Optimization Of Underwater Cleaning Vehicle Manipulator System

As a large offshore steel structure,the jacket platform plays an important part in modern offshore oil exploration.During the service of the platform,the pile foundation of the jacket platform is seriously corroded due to the long-term attachment of a large number of marine organisms to the jacket,which jeopardize the safety of the platform.At present,there are two methods for cleaning organisms attached to the jacket platform:manual cleaning and machine cleaning.Considering the safety and high efficiency of machine cleaning,this paper designs a set of Underwater Vehicle Manipulator System(UVMS)to improve the reliability of the system for cleaning jacket platform,which innovatively uses the double arms system to replace the common adsorption positioning System.On the premise of considering the hydrodynamic characteristics of mechanical arm of the UVMS,this paper respectively establish the mechanical arm kinematics model and the dynamics model.And then the ant colony algorithm is established based on the work path optimization method of mechanical arm,so as to improve the work efficiency of underwater cleaning robot on the basis of high pressure spray nozzle working posture optimization.Firstly,a suitable working arm is designed according to the size of the working object.For the kinematics problem of the manipulator,the D-H method is used to model the forward and inverse solutions of kinematics.The Monte Carlo method is used to calculate the working range of the manipulator,and the correct solution of the manipulator is verified in the Matlab toolbox.And then we complete a simple path planning.Then,the Lagrange motion equations and the Jacobian matrix theory are introduced for the dynamics of the manipulator.Parameters such as mass and moment of inertia of the model,which built in Matlab/SimScape are added to complete the predetermined trajectory movement,and the required torque of each joint is obtained,which provides a reference for the subsequent selection of hydraulic cylindersIn order to get the best position of the spray gun at the end of the robot arm,the related theory of high pressure water jet including the jet parameters and cleaning mechanism of the water jet is introduced.t.On the basis of theory,the Fluent software is used to simulate the high-pressure water jet flow field,and strike stress and shear stress distribution of the target are obtained.The optimal target distance and incident angle of the water jet are determinedFinally,a path optimization algorithm based on optimal energy or time is proposed for the specific operation requirements of the underwater robot in this subject.The calculation results show that the e two optimization algorithms can greatly improve the work efficiency of the underwater manipulator and reduce the energy loss compared to the unplanned working path.This optimization idea provides a rational basis for how to plan the working path of the robot arm in practical engineering applications.