漂浮式风电平台锚链检测机器人动力学仿真
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Dynamic Simulation of Anchor Chain Detection Robot for Offshore Floating Wind Power Platform
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    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。

    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.

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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,(02):12-17

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  • 在线发布日期: 2023-04-23
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