摘要
水下机器人是有效提高船舶机械化、自动化与智能化的方法。本文给出小型舰船吸附式机器人的设计和控制方法。首先介绍吸附式机器人的基本结构,然后给出新型吸附单元的模型,该模型使用Halbach阵列模型,并对其理想模型以及非理想模型进行描述,同时也给出优化算法。实验结果表明,本文设计的吸附式模型具有可靠的吸附能力。
Underwater robot is an effective method to improve the mechanization,automation and intelligence of the ship. In this paper,the design and control method of small ship adsorption robot was proposed. The basic structure of the robot was introduced,and the model of the new type of unit was given,and the model of Halbach array was used. The experimental results shown that the adsorption capacity of the Halbach array model was reliable.
出处
《舰船科学技术》
北大核心
2016年第4X期58-60,共3页
Ship Science and Technology
基金
内蒙古电子信息职业技术学院青年教师科研基金资助项目(YTSRF1408)
