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以便携式自主水下机器人(AUV)和罩式导向对接平台的水下对接过程为研究对象,将碰撞力大小和对接时间作为评价指标,研究导向罩形状、对接管尺度以及AUV与对接管的偏心距对整个对接过程的影响。在三维建模的基础上,使用ADAMS软件进行动力学仿真分析,结果表明,减小导向罩开口角度、增大对接管直径、减小偏心距可以适当减小碰撞力和对接时间。通过对上述影响因素与评价指标建立函数关系,利用多目标优化设计的方法并结合实际情况对参数做出合理的分析和筛选,为水下机器人对接平台提供设计依据。 相似文献
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CHC Trailing suction hopper dredgers (TSHD) have been widely used in dredging industry. In order to simulate the dredging
process accurately, a mathematical model for a swell compensator used in TSHD is proposed, and a friendly simulation model
based on the Automated Dynamic Analysis of Mechanical Systems (ADAMS) is built to test and validate the mathematical model
for the swell compensator. The factors influencing the dynamic behavior of the TSHD suction pipe system, such as the motion
of the vessel in an unquiet situation with different water current velocities, seabed profiles, seabed soil hardness and the
forces acting on the suction pipe system, have been taken into consideration. The simulation results show that they fit in
with the operating practice qualitatively. 相似文献
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《中国海洋大学学报(英文版)》2007,(1)
1 Introduction Today, maneuvering the draghead of a trailing suction hopper dredger (TSHD) on a predetermined spot is an operation that demands an increasing degree of accuracy (Cornelis, 1983). As a self-propelled, self-loading and self-discharging seagoing or inland waterway vessel with one or more flexible suction pipes equipped with special dragheads, the TSHD has a wide application area and is therefore called the workhorse of the dredging industry (Ni, 2004). The swell compensator, c… 相似文献
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防风固沙草方格铺设机器人横向割断机构的动力学分析 总被引：1，自引：0，他引：1
横向割断机构是草方格铺设机器人横向铺设系统中一个重要的组成部分,直接影响机器人的正常运行。针对草方格铺设机器人所要完成的任务,设计出一套既适合工作环境、又能完成割断任务的新型机构。应用计算机仿真技术,利用Pro/ENGINEER软件绘制出割断机构的三维模型,观察模型设计是否存在干涉等现象;利用ADAMS软件对割断机构进行动力学仿真,通过仿真观察机构的运行,绘制出关键部位的速度、位移等参数曲线,在理论上确保割断机构动作方面的可行性、合理性;最后通过实验验证横向割断机构能够按设计完成割断草帘绳的任务。 相似文献
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