Research On Key Technology Of Flexible Operation Robot System For Offshore Platform Outer Wall

Polishing and spraying on the surface of offshore platform body are important contents of daily maintenance and management of the platform,which is of great significance to ensure the overall safety of the platform and extend the service life of the platform.At present,the above operations on the platform are mainly completed by manual method,which has problems such as low efficiency,high labor cost,high labor intensity and high risk factor.Due to the diverse wall surfaces of offshore platform,wind and waves,wet and slippery decks,and other factors,the traditional single-robot operation mode is difficult to meet the requirements of operations on deck walls and vertical walls at the same time.Therefore,the paper proposes a dual-robot collaborative and flexible operation mode to realize the simultaneous operation of the platform deck wall and vertical wall,and systematically researches on the deck support robot.The main research contents are as follows:(1)According to the structural characteristics of the deck wall of the offshore platform,the structure design of the support body robot is based on the quadruped robot.Based on the full analysis of the physiological structure and joint layout of the quadruped,the robot leg joints and layout are determined,and three-dimensional models of the overall structure,leg mechanism,robotic arm mechanism,and hoisting mechanism were established;The main mechanism of the support body robot is statically analyzed and modal analysis,and the transient dynamic analysis of the manipulator mechanism is performed to verify the rationality of the mechanism design;the lateral force that the robot can withstand under different adsorption states are analyzed,Which provides a theoretical basis for the subsequent research on the stability of the robot.(2)The kinematics and dynamics modeling of the support robot are carried out.The kinematics equations of the robot from the body to the foot is established by using D-H parameter method,and the forward and inverse kinematics solutions are completed.The kinematic Euler-Lagrange function is established,which provides a theoretical basis for the research of motion simulation and control.(3)Several typical quadruped gait characteristics and motion simulation platform are introduced.Based on the joint simulation of Matlab and ADAMS,the diagonal and triangular gait of the support body robot are realized,and the fluctuation curve of the center of mass of the robot and the driving torque of each joint are obtained.The motion of the robot under the two gaits is analyzed,which provides a reference for the research of robot motion control.(4)Based on the designed support body robot model,a physical test prototype is made,and walking experiments in diagonal and triangular gaits are completed.The movements under both two gaits are relatively stable,indicating that the structure design of the robot is reasonable and the gait The correctness of the generation method lays a foundation for exploring the intelligent operation of offshore platforms.The research content of this paper is applied to marine engineering equipment such as offshore platforms,which can replace manual maintenance operations such as rust removal,cleaning,polishing,and wall thickness inspection,and provide technical support for promoting the intelligent management of marine engineering equipment.