| Since the beginning of the new century and with the shortage of land resources,people have gradually shifted their attention to the ocean.Underwater robot equipment with functions such as marine environment detection,marine platform development and marine resource utilization have emerged to take advantage of the trend,which is responsible for building a maritime power.Important mission.At present,most of the propulsion devices used in underwater robots are propellers.Compared with ordinary propellers,cycloidal propellers,as a new type of propulsion device,have good maneuverability,fast response speed and high propulsion efficiency.And it can be used in shallow water,so it has special application value and development potential.This article will start with the development of a new type of cycloidal propeller structure from revealing the propeller motion mechanism,and study the hydrodynamic performance of the cycloidal propeller from both simulation and experiment.First,by studying the working principle of the cycloidal propeller,its kinematics is analyzed and modeled,and the corresponding hydrodynamic performance parameter calculation model is derived.Based on the motion mechanism of the cycloidal propeller,a mathematical model of the underwater vehicle carrier is established.A three-dimensional motion model of the propeller was constructed on the basis of the mathematical model,and the newly proposed simulation technology combining dynamic grid and slip grid was verified.Starting from the study of the hydrodynamic mechanism of a single propeller,the underwater robot system of the cycloidal propeller has been hydrodynamically simulated,and the influence of four hydrodynamic performance parameters of eccentricity,revolution speed,blade elongation and forward direction angle is analyzed.The optimal operating conditions and design of the cycloid thruster are determined.Secondly,two new cycloidal propeller structures that can realize the decoupling function of the control axis plane are proposed.The corresponding structure of the modular design includes the power source module,the control mechanism module,the execution module and the integral base and shell.Through the analysis the advantages and disadvantages of the two propellers,a more superior structure was chosen to develop a prototype of the underwater robot with a double cycloidal propeller.Finally,the software and hardware platform of the underwater robot is designed.The hardware system includes the main controller,drive module,Bluetooth module,sensor module,and the system experiment platform are built to test the hydrodynamic performance of the cycloidal propeller under various parameters.Research and compare and analyze with the simulation results,summarize and refine the motion mechanism of the cycloidal propeller.This paper completed the establishment of an underwater robot model equipped with a cycloidal propeller,focusing on the working principle and structural design scheme of the thruster,and applied it to the underwater robot,further through hydrodynamic simulation and experimental research,summarized and refined.The motion mechanism of the cycloidal propeller provides a technical basis for further studying the hydrodynamic performance of the cycloidal propeller,designing a new type of cycloidal propeller and applying it to underwater vehicles. |
