Design and Dynamic Performance Research of Underwater Inspection Robots

摘要

With the construction of a large number of power plants along the river and the coast, more and more power plants have adopted open water intake in the circulating water pool of the power plant and the number of underwater operations is increasing. In the detection of complex underwater environments, underwater robots have been widely used as a kind of underwater intelligent equipment. However, the current underwater robots generally have problems such as weak endurance, low intelligence, poor detection ability, and large environmental disturbance. The underwater robot designed in this paper is able to accomplish various rotational and flat movement works in the water and also can realize the monitoring of the water environment. In this paper, the underwater dynamic performance of the underwater robot is studied, the coordinate system and motion equation are established, the hydrodynamic analysis is carried out, and the dynamic characteristics of the underwater robot are tested. The experimental results show that the underwater robot has achieved good results in underwater motion control and its dynamic performance, showing the advantages of good robustness and accuracy, high control accuracy, and good dynamic characteristics.