Research On The Structure Design And Motion Control Of Marine Omnidirectional Mobile Robot

With the endless exploitation of land resources,land resources are decreasing day by day.Compared with land,the vast ocean contains more abundant resources,so marine development has become the general trend.This involves the problem of material handling on board.At present,the material transfer work on board is generally done manually with the help of some auxiliary machinery.Therefore,compared with land-based cargo transportation,the automation level of material handling on board is relatively low.One of the reasons for this problem is that general material handling robots cannot adapt to the environment on board.Therefore,it is of great significance to study a mobile robot that can adapt to the environment on board.This paper studies the problem of material handling on board,analyzes and considers the difficulty of material handling on board,designs a mobile robot that can adapt to the environment on board,and improves the automation level of cargo handling on board.Firstly,analyze the working environment of the mobile robot on the ship,and then determine the functional requirements and size requirements of the mobile robot.It is determined that the mobile robot needs to have the ability to move in all directions,and the influence of the deck swing on the movement of the robot can be compensated by the control of the rudder angle.It is necessary to have an auxiliary gripping safety mechanism to increase the adhesion of the robot to the deck to improve the safety of work in extreme sea conditions.Based on this,the detailed structural scheme of the mobile robot is determined,and the three-dimensional modeling of the scheme is carried out to ensure that the structural scheme of the mobile robot can match its functional requirements.Digital simulation of ship swaying based on the wave spectral density formula recommended by ITTC,and then carry out the mechanical analysis of the mobile robot moving on the ship t.According to the calculation results,the relevant driving motors are selected,and the important parts are subjected to finite element analysis to ensure that their performance can meet the requirements.The auxiliary gripping safety mechanism is analyzed to determine the specific safety mechanism scheme.Design the overall control system of the robot,and the speed PI control model of the drive motor and the steering motor rudder angle PD control model are designed and verified by simulation.Establish a virtual prototype model of a mobile robot,and further establish an electromechanical co-simulation platform through Matlab and Adams.Based on this,the problem of trajectory deviation caused by the lateral force on the mobile robot caused by the ship’s sway is analyzed,and the declination angle of the steering motor is proposed.Control the control model for correcting the trajectory deviation,so as to simulate and verify the feasibility of reducing the ship sway to compensate the robot trajectory deviation through rudder angle control.