Dynamic analysis of a cable underwater robot in a nuclear reaction pool

摘要

It's considered as a task that a robot welds under the state of emergency and patrols daily in the nuclear reaction pool. A design scheme of underwater welding robot with cables is proposed, which move in all direction, has a function of pitching and absorb on the wall surface by thrust of propellers. In this paper in order to achieve for the precise control of the underwater robot, a dynamic equation is established. The unknown hydrodynamic coefficients involved the dynamics equation are solved by CFD software. Finally, in the Matlab/Simulink software environment, the simulation platform is built, and then the validity of the dynamic model of the robot is illustrated by the calculation.