| 漂浮式风电平台锚链检测机器人动力学仿真 |
| |
| 引用本文： | 黄建虾,陈祎,鲍巍,姜哲,罗高生.漂浮式风电平台锚链检测机器人动力学仿真[J].中国海洋平台,2023(2):12-17. |
| |
| 作者姓名： | 黄建虾 陈祎 鲍巍 姜哲 罗高生 |
| |
| 作者单位： | 1. 中海油能源发展装备技术有限公司;2. 上海海洋大学工程学院上海深渊科学工程技术研究中心;3. 上海交通大学海洋水下工程科学研究院有限公司 |
| |
| 基金项目： | 上海市科委创新行动计划“6 000 m深海精细探测技术与装备研发及应用”项目(编号：20dz1206500)； |
| |
| 摘 要： | 提出一种新型锚链检测机器人用来检查海上漂浮式风电平台系泊锚链。与传统水下机器人相比，该机器人作业时沿锚链进行爬行作业。针对该新型锚链检测机器人，采用ADAMS软件对机器人沿锚链行进运动进行仿真分析。在此基础上，对机器人在锚链以45°和60°两种倾斜状态下的越障能力开展研究。结果表明，该锚链检测机器人在移动过程中运行平稳，符合结构设计要求，同时也为优化机器人结构提供重要数据。
|
| 关 键 词： | 漂浮式风电平台 锚链检测机器人 动力学 仿真 ADAMS 越障能力 |
Dynamic Simulation of Anchor Chain Detection Robot for Offshore Floating Wind Power Platform |
| |
| HUANG Jianxi,CHEN Yi,BAO Wei,JIANG Zhe,LUO Gaosheng.Dynamic Simulation of Anchor Chain Detection Robot for Offshore Floating Wind Power Platform[J].China offshore Platform,2023(2):12-17. |
| |
| Authors: | HUANG Jianxi CHEN Yi BAO Wei JIANG Zhe LUO Gaosheng |
| |
| Abstract: | A new type of anchor chain detection robot for offshore floating wind power platform is proposed. Compared with the traditional underwater robot, the robot crawls along the anchor chain during operation. Aiming at the new type of anchor chain detection robot, ADAMS software is used to simulate the movement of the robot along the anchor chain. On this basis, the obstacle surmounting ability of the robot in the inclined state is analyzed, and two cases of 45° and 60° are studied respectively to verify the rationality of the model design. The results show that the anchor chain detection robot runs smoothly in the process of moving, which meets the requirements of structural design, and also provides important data for optimizing the robot structure. |
| |
| Keywords: | floating wind power platform anchor chain detection robot dynamics simulation ADAMS obstacle surmounting ability |
|
| 点击此处可从《中国海洋平台》浏览原始摘要信息 |
|
点击此处可从《中国海洋平台》下载全文 |
