Jixie chuandong (Jan 2023)
Design and Experimental Research of a New Adsorption Structure for Underwater Robot
Abstract
Underwater robot has been widely used to carry out a variety of underwater inspection and maintenance operations instead of human beings, in which the adsorption structure is an important unit for the robot to face all kinds of complex slope and elevation, so its reliability is very important. But the existing adsorption structure still has some shortcomings such as weak adsorption, poor adaptability and so on. In order to solve these problems, an adsorption structure of underwater robot based on surface negative pressure adsorption is proposed in this paper. The characteristics of the adsorption structure are analyzed through theoretical research, and the adsorption structure is simulated by Ansys finite element simulation, and the effects of key parameters on the adsorption force are analyzed and discussed in detail. The theoretical calculation and simulation results show that the adsorption force produced by the adsorption structure is higher than that produced by the thruster and the plane adsorption structure. When the gap between the adsorption structure and the wall is 8mm, the maximum adsorption force of the plane adsorption structure can reach 136 N, and the curved surface adsorption structure can produce the adsorption force of 194 N, which is equivalent to more than 4.5 times the thrust of the thruster under the same condition. The physical verification and the application verification of the underwater robot are carried out, and the creeping experiments of the robot are carried out on the vertical wall. The results show that the adsorption structure can further improve the adsorption force and contribute to the climbing and adsorption movement of the underwater robot.
