Journal of Jilin University(Engineering and Technology Edition) ›› 2018, Vol. 48 ›› Issue (6): 1820-1826.doi: 10.13229/j.cnki.jdxbgxb20170813

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Design of thrust attachment underwater robot system in nuclear power station pool

LI Zhan-dong1(),TAO Jian-guo1(),LUO Yang1,SUN Hao2,DING Liang1,DENG Zong-quan1   

  1. 1. School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150080, China
    2. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350001, China
  • Received:2017-08-01 Online:2018-11-20 Published:2018-12-11

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Abstract:

It is an important application of robot in the field of nuclear power station to realize welding for a nuclear reaction pool in emergency and patrol daily. A cable underwater robot system with a full range of motion which can attach on the wall by propellers was put forward in consideration of bump and pipeline at the bottom or side wall of the reaction pool. The changes of the center position of gravity, the center position of buoyancy and the moment of inertia were analyzed when the movements of the body and an operating device cooperate with each other, and a dynamic model of the robot was established. The position and attitude changes with time were compared before and after adjusting the position of an operating device under no thrust input by Matlab/Simulink. The rotating efficiency of a robot was analyzed by regulating the position of gravity, buoyancy center. The results demonstrate that the attitude stability of the robot without thrust input is increased and the rotation efficiency is improved by adjusting the position of an operating device. The dynamic equation for this robot lays a good foundation for controller design.

Key words: automatic control technology, underwater robot, thrust attachment, system design, dynamic model

CLC Number: 

  • TP242.6

Fig.1

Composition of an operation system"

Fig.2

Prototype of an underwater robot"

Fig.3

Layout scheme of bottom propellers in the horizontal plane"

Fig.4

Layout scheme of top propellers in the horizontal plane"

Fig.5

Fixed coordinate system and a moving coordinate system of an underwater robot"

Fig.6

Position and attitude change before adjusting"

Fig.7

Position and attitude change after adjusting"

Fig.8

The change of a roll angle φ before and after adjusting three degrees of freedom mobile mechanison"

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