面向核电水池水下机器人线缆扰动效应分析
Journal: Modern Education Forum DOI: 10.12238/mef.v3i9.2879
Abstract
以实现核电水池日常巡查与应急焊接修复为目的，设计了一款可搭载焊接作业设备的有缆水下机器人。为了实现水下机器人的精确控制，分析了机器人尾端线缆对本体的扰动效应。以机器人的动力学模型为基础，借助数值计算，分别求得在无缆状态、有缆状态下机器人纵向运动、垂向运动、横滚翻转运动和摇艏运动的运动速度、位移随着时间的变化，通过计算结果对比，量化了尾端线缆对于机体的扰动效应。研究结果表明，该种方法可以用于评估线缆扰动对机器人运动的影响，并能够为机器人的改进设计和制定控制策略提供依据。
Keywords
水下机器人；动力学模型；线缆；扰动效应；核电水池
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