Design And Simulation Of Wave-adapted Rescue Robot

With the implementation of China's maritime power strategy,maritime traffic is becoming more and more busy and maritime security accidents increases day by day,which puts higher requirements on China's maritime rescue forces.However,the shipwrecks accident currently is changeable and the rescue environment is complicated,the existing rescue vessels and rescue equipment cannot meet the increasingly demand for rescue.Consequently,it is of great significance to research marine rescue vessels and new rescue equipment.The surface rescue robot with wave adaptability is developed in this paper,which combines the characteristics of unmanned surface craft and aquatic insects-water rafts,and introduces a vehicle suspension structure.It aims to provide a new type of marine rescue equipment that can cooperate with existing rescue equipment,thus to improve China's maritime rescue capability.Firstly,the design process of the wave-adapted rescue robot is introduced in this paper.The design ideas of the robot suspension system and propulsion system and the selection of related parameters are described in detail,a new type of rescue net is designed based on the structure of the robot.Secondly,according to the structure of the robot and using the bond graph theory,the single-degree-of-freedom vibration model and the two-degree-of-freedom vibration model of the robot are built,and the state equation is written.Moreover,the dynamic simulation analysis is carried out by the bond graph simulation software 20-sim.The results show that the robot can effectively reduce the impact of waves on the main platform of the robot and improve the stability and comfort of the robot.The vibration amplitude of the main platform is about 20%of the vibration amplitude of the floating cabin.Finally,the robot prototype was processed and manufactured,the dynamic data acquisition system was designed in accordance with the prototype.And the water test was carried out in the simulated pool of the Rescue and Salvage Engineering laboratory of Dalian Maritime University.So the motion data of the robot under different sea conditions were measured.The test results show that under the condition of large waves,the vibration acceleration of the robot main platform is about the floating cabin.25%of the acceleration,the amplitude of the main platform is about 24%of the amplitude of the floating cabin,which is consistent with the simulation results.The impact of wave on the main platform is weakened,which proves that the wave-adapted surface rescue robot has better wave adaptability and Sea-keeping ability under three-level sea conditions,and improves the stability and comfort of the robot.