Design And Research Of Claw Opening And Closing Magnetic Adsorption Underwater Micro Robot

With the continuous development of China’s economy and the continuous growth of China’s underwater robot industry,the development of marine science and technology and the construction of marine equipment is a necessary choice to maintain the security of national territorial sea.Underwater unmanned robot(UUV)is one of the important tools to explore the unknown areas of the sea and carry out underwater operations.Due to its advantages of small volume,low cost and no need for human internal driving,it has quickly become a hot scientific research direction in the world.At present,small underwater robots are mainly used to carry out some auxiliary exploration work.Bionic deformation robots can realize self deformation by changing the machine Construct the original shape and size to complete some special underwater operations.Based on the small underwater robot and the concept of bionic deformation,this paper designs a claw opening and closing magnetic adsorption underwater micro robot,establishes the three-dimensional model of the overall structure of the robot,and uses finite element simulation Response surface optimization and experimental verification methods are used to optimize the magnetic adsorption unit and claw opening mechanism of the robot.The main work includes the following aspects:The overall structure design of the claw opening and closing magnetic adsorption underwater micro robot is completed.The slider rocker energy storage scheme is selected as the claw opening mechanism of the robot,and its dynamics is analyzed.The battery pack and acrylic waterproof battery compartment are used as the power module of the robot,and their stress is simulated and checked.The propeller is used as the secondary propulsion module of the robot,and the propeller power is selected through fluid simulation.In this paper,the response surface optimization method is used to optimize the magnetic adsorption unit and gripper opening mechanism.In the optimization of the magnetic adsorption unit,the length,width of the rectangular magnetic block,the thickness of the magnetic block,the spacing between the magnetic blocks and the thickness of the magnetic guide plate are set as the design variables to obtain the structural size corresponding to the maximum magnetic adsorption force,In the optimization of the gripper opening mechanism,the size of the connecting rod is set as the design variable and the quality of the mechanism is set as the constraint variable.Based on the response surface optimization method,the multi-objective genetic algorithm is carried out to obtain the structural size corresponding to the shortest gripper opening time.The prototype of claw opening and closing magnetic adsorption underwater micro robot is made,and the pool experiment is carried out.The robot water resistance test,claw opening mechanism test and magnetic adsorption force test are carried out respectively.Compared with the simulation results,aiming at the problems in the experiment,the robot size,the model of proximity sensor and the structure of embedded bolt magnetic adsorption unit are improved.The improved robot prototype is used to repeat the experiment,and the experimental results before and after the improvement are compared and analyzed to prove that the improvement is effective.