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Research on Deep-sea Piling with the Cooperation of Robot System

Author: WangShuangFei
Tutor: ZhangQing
School: Tianjin University
Course: Mechanical and Electronic Engineering
Keywords: Robot Ocean Development Mooring system The simulation
CLC: TP391.9
Type: Master's thesis
Year: 2008
Downloads: 55
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With the development of the deep-sea energy , floating production facilities has many advantages , is widely used , the key is the mooring system . Mooring system common claw anchors , suction anchors, each type has certain characteristics , but there are major deficiencies . In recent years the development of a deep-sea mooring system with pile anchors structures , the structure underwater piling ( short pile ) mooring system has a great pullout resistance and resistance to lateral loads , mooring of floating production systems security play a key role in reducing the risk of failure of the mooring system , but without the collaboration of underwater robots , the entire installation can not be carried out . The paper focuses on the development of deep - sea mooring system installation of pile-anchor structure technology proposed underwater pile installation collaborative robotics research , the robot has the following features : the underwater pile righting function ; underwater pile positioning function ; underwater pile hanging the ear automatically directed function ; clamping and release functions ; function automatically reduces the adsorption force ; reuse functions . The papers , including the mechanics of underwater pile installation process analysis , structural optimization , automatic positioning and orientation institutions , collaboration , comprehensive research , making scale models and experimental validation of a complete theoretical system . Short pile of papers with a larger diameter main tasks include the following : 1 . Environmental factors analysis of the process of deep-sea piling and pile the robot force , the choice of steel , and reasonable structure , proposed a new kind of underwater pile installation collaborative research premise robot model . 2 . Complete robot structural design and optimization , kinematic analysis and dynamic interference test ; and penetration model analysis . 3 . Proposed a viable pilot program , derivation of the the underwater pile installation the collaborative robot sedimentation and adsorption algorithm , simulation test .

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