發(fā)布時(shí)間：2018-09-12 11:07

【摘要】：海上交通運(yùn)輸線是國(guó)民經(jīng)濟(jì)的命脈,交通運(yùn)輸設(shè)施及其施工設(shè)備能夠獲取相關(guān)海域的環(huán)境參數(shù)。作為施工第一輔助設(shè)備的水下機(jī)器人,其國(guó)產(chǎn)化率尤為注目�？紤]到國(guó)產(chǎn)水下機(jī)器人能夠更好地適應(yīng)我國(guó)鄰海交通運(yùn)輸設(shè)施建設(shè)的特殊海洋環(huán)境,制定相關(guān)國(guó)家標(biāo)準(zhǔn)、開發(fā)相應(yīng)計(jì)量測(cè)試平臺(tái),是迎接WTO"零關(guān)稅"挑戰(zhàn)的唯一手段。針對(duì)海上施工環(huán)境水流流速大、平潮期短及施工環(huán)境復(fù)雜的特點(diǎn),對(duì)輔助作業(yè)機(jī)器人提出了頂流作業(yè)能力、控制精度高及作業(yè)靈活的要求。本文基于這三點(diǎn)要求,針對(duì)對(duì)水下機(jī)器人的推進(jìn)器、作業(yè)機(jī)械手及核心執(zhí)行器的綜合性能,開發(fā)計(jì)量測(cè)試平臺(tái),并進(jìn)行針對(duì)性的計(jì)量測(cè)試及精度保障研究,保障海上施工輔助機(jī)器人在惡劣工況下穩(wěn)定、靈活地完成作業(yè)。本文通過(guò)六個(gè)章節(jié),對(duì)上述問(wèn)題進(jìn)行詳細(xì)介紹:第一章,主要介紹了論文的研究背景,水下機(jī)器人各核心部件即推進(jìn)器、機(jī)械手及執(zhí)行器的測(cè)試研究現(xiàn)狀,基于海上輔助施工需求和各核心部件測(cè)試技術(shù)的優(yōu)缺點(diǎn)分析,提出了本論文的研究意義和主要研究?jī)?nèi)容。第二章,基于海上交通建設(shè)輔助施工的應(yīng)用需求及國(guó)家標(biāo)準(zhǔn)測(cè)試要求,對(duì)推進(jìn)器和機(jī)械手的各執(zhí)行器提出的性能參數(shù)指標(biāo),進(jìn)行計(jì)量測(cè)試和分析研究,并對(duì)關(guān)鍵性能測(cè)試參數(shù)進(jìn)行誤差分析研究,保證各執(zhí)行器計(jì)量測(cè)試的精度和準(zhǔn)確性。第三章,基于國(guó)家標(biāo)準(zhǔn)提出針對(duì)推進(jìn)器的測(cè)試方法和參數(shù)要求,在水下環(huán)境下進(jìn)行實(shí)際運(yùn)行測(cè)試,并與電機(jī)測(cè)試數(shù)據(jù)進(jìn)行融合分析得到單位軸功率下系柱推力,來(lái)衡量推進(jìn)器實(shí)際水下工作性能,并對(duì)深水推進(jìn)器各關(guān)鍵被測(cè)量進(jìn)行誤差分析研究,保證推進(jìn)器測(cè)試性能的可靠性。第四章,基于國(guó)家標(biāo)準(zhǔn)提出了針對(duì)作業(yè)機(jī)械手的測(cè)試方法和指標(biāo)要求,通過(guò)機(jī)械手的建模和參數(shù)分析,對(duì)其作業(yè)空間包絡(luò)線進(jìn)行分析研究及測(cè)試,針對(duì)各單關(guān)節(jié)的運(yùn)動(dòng)控制性能進(jìn)行測(cè)試。并對(duì)于機(jī)械手各項(xiàng)測(cè)試參數(shù)進(jìn)行誤差分析研究,保證機(jī)械手測(cè)試性能的準(zhǔn)確性和機(jī)械手的計(jì)量測(cè)試精度。第五章,具體針對(duì)YK-DT-075型電推進(jìn)器及YK-MA710A型機(jī)械手各項(xiàng)測(cè)試進(jìn)行綜合分析,結(jié)合各項(xiàng)被測(cè)量的誤差度得到測(cè)量值的精確范圍,基于技術(shù)指標(biāo)對(duì)各項(xiàng)性能進(jìn)行分析評(píng)估,最終得到被測(cè)推進(jìn)器和被測(cè)機(jī)械手的綜合性能。第六章,對(duì)全文的主要研究工作進(jìn)行總結(jié),并針對(duì)論文研究的不足之處提出進(jìn)一步的研究及提高方向。
[Abstract]:Maritime transportation line is the lifeblood of national economy. Transportation facilities and their construction equipment can obtain the environmental parameters of the relevant sea area. As the first auxiliary equipment of construction underwater vehicle, its localization rate is particularly noticeable. Considering that the domestic underwater vehicle can better adapt to the special marine environment of transportation facilities construction near the sea in China, it is the only way to meet the challenge of "zero tariff" of WTO to make relevant national standards and develop the corresponding metrological test platform. In view of the characteristics of large flow velocity, short flat tide period and complex construction environment in offshore construction environment, the requirements of top flow operation ability, high control precision and flexible operation are put forward for the auxiliary robot. Based on these three requirements, this paper develops a metrological test platform for the comprehensive performance of the underwater vehicle's thrusters, manipulators and core actuators, and makes a targeted research on the measurement test and precision guarantee. To ensure the stability and flexibility of the offshore construction auxiliary robot under the bad working conditions. This paper introduces the above problems in detail through six chapters: the first chapter mainly introduces the research background of the thesis, the status quo of the testing and research of the core components of underwater vehicle, namely, the propeller, the manipulator and the actuator. Based on the analysis of the requirements of offshore auxiliary construction and the advantages and disadvantages of each core component test technology, the research significance and main research contents of this paper are put forward. In the second chapter, based on the requirements of the application of marine traffic construction auxiliary construction and the national standard test requirements, the performance parameters of the actuators of the propeller and manipulator are measured, tested and analyzed. The error analysis of the key performance test parameters is carried out to ensure the accuracy and accuracy of the metering and testing of the actuators. In the third chapter, based on the national standard, the test method and parameter requirement of propeller are put forward, and the actual running test is carried out under underwater environment, and the pillar thrust under unit shaft power is obtained by fusion analysis with motor test data. To measure the actual underwater performance of the thruster and analyze the errors of the key measurements of the deep-water thruster to ensure the reliability of the testing performance of the thruster. In the fourth chapter, based on the national standard, the testing method and index requirement of the manipulator are put forward. Through the modeling and parameter analysis of the manipulator, the envelope line in the operating space is analyzed and tested. The motion control performance of each single joint is tested. In order to ensure the accuracy of the testing performance and the measuring accuracy of the manipulator, the error analysis of the testing parameters of the manipulator is carried out in order to ensure the accuracy of the testing performance of the manipulator. In the fifth chapter, according to the comprehensive analysis of each test of YK-DT-075 electric thruster and YK-MA710A manipulator, combined with the accurate range of the measured error, the performance is analyzed and evaluated based on the technical index. Finally, the comprehensive performance of the tested propeller and the tested manipulator is obtained. In chapter 6, the main research work of the thesis is summarized, and the further research and improvement direction are put forward in view of the deficiency of the thesis.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：U674.941;TP242

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本文編號(hào)：2238811