The Structure Design And Grabbing Property Analysis Of Benthos Capture ROV

The remotely operated vehicles(ROV)are widely used in marine environment detection,seafloor resource development,underwater rescue and salvage,etc.Now these aspects are important research directions of marine high-tech in the 21 st century.With the development of offshore aquaculture industry,the demand for efficient underwater vehicle capturing technology is increasing fastly.The article will combine the successful experience of ROV design domestic and overseas as well as the application of benthos crawling operations.Through in-depth analysis and research on the key elements of ROV system,the article will design a ROV system with excellent navigation and operational performance of benthos capture.And the article performed simulation or experimental analysis on ROV’s navigation and manipulator gripping property.First of all,according to the system design method,after analyzing the performance indexes of the task design book,the article programmed the virtual prototype of ROV system.Submarine benthos capturing ROV mainly consists of frame structure,watertight compressive cabin,propulsion system,environment and posture perception system,manipulator system and other modules.The article optimized the design of the frame structure and compressive cabin and using the finite element analysis software to check the strength of those important modules.This thesis introduced the working principle of propulsion system,environment and posture perception system,and the selection and assembly of various components to ensure the good manoeuvrability and environmental perception of ROV.Secondly,based on the established ROV virtual prototype,the overall weight of ROV is calculated.ROV’s weight and buoyant center coordinates in different manipulator attitudes are calculated by using Creo’s weight attribute module.It is ensured that ROV’s heel and pitch angles are within the required range under different working postures and the metacentric height is suitable by adjusting ROV’s layout scheme.The coordinate system and mutual transformation relationship of ROV are established.At the same time,by referring to related literature domestic and overseas,ROV’s underwater kinematics model has been derived.The navigation resistances of ROV in different attitudes of manipulators are calculated by using Star-CCM+ fluid calculation software,and according to resistance calculation results,the layout of propulsion system is optimized to ensure rapidity and flexibility of ROV.Thirdly,the design scheme of capturing manipulator system is described in detail.What’s more,the second generation manipulator’s internal structure,rotating seal design,and the calculation of motor model selection is highlighted in this chapter.Then,two kinds of kinematics models and motion space of manipulator were established and calculated by using the D-H parameter method.At the same time,manipulator’s grasping and placing movement process was simulated and analyzed by mechanism motion simulation module of Pro/E software.The obtained position-time curves and speed-time curves of the measuring point were provided theoretical foundations for the motion planning of manipulator.In the end,design scheme and transmission theory of grasping claw are described emphatically.The basic principle of grasping force measurement experiment is introduced,then the grasping force data of those two claws are measured through this experimental theory.Gripping performance advantages and disadvantages of those two grippers were compared and analyzed from various angles,after that the optimal design scheme of gripper was determined in this chapter.