摘要
针对现有水下机器人模态(航态)单一的不足,完成了一种新型开架式模态切换水下机器人(MC-ROV)的总体设计方案,提出了ROV浮游与爬行模态切换方法,可实现浮游与爬行清污作业的自由切换,完成了ROV样机的装配,并进行了陆上系统测试、水密性测试、整体平衡实验。在此基础上开展了下水试航实验,实现了视频捕获、直航、回转、潜浮等功能,完成了推进系统的推力测试,测试数据为进一步开展MC-ROV操控性能的研究提供了理论参考和试验数据。
Aiming at the single mode（navigational status） of the existing ROV, the overall design and method of mode conversion of a new open-frame Mode Conversion underwater Remotely Operated Vehicle（MC-ROV） is presented, which can easily and quickly convert between swimming model and crawling model, the designed ROV prototype is assembled and performed onshore system test, watertight test and overall balance test. On this basis, the tested ROV prototype is performed underwater function verification experiment and thruster system test, the underwater function verification experiment contains photographing test, navigating test, turning test and diving test, the data of thruster system test provides the theoretical reference and experiment foundation for the further investigation of its control performance.
出处
《船舶工程》
北大核心
2015年第2期85-88,共4页
Ship Engineering
基金
江苏省产学研联合创新资金--前瞻性联合研究项目(BY2012181)
