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Modellierung und Simulation eines flexiblen Unterwasserroboters

Modellierung und Simulation eines flexiblen Unterwasserroboters

          
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About the Book

Siebzig Prozent der Erde sind von Wasser umgeben, und es könnte noch viele unerforschte Rohstoffe geben. Ein Mensch kann nicht länger tauchen, weil die Atmung eine der größten Einschränkungen sein könnte. Für Tiefseeanwendungen wie die Beseitigung von Trümmern, die Inspektion von Pipelines, Vermessungen, Telekommunikationsunterstützung, Forschung und Wartung wird eine Technologie benötigt, die sich ohne Einschränkungen nach unten wagen kann. Die Unterwasserrobotertechnologie ist die beste Lösung dafür, da Roboter nicht wie Menschen atmen müssen. Aber es gibt Probleme bei Unterwasserrobotern. Eines der Hauptprobleme ist die Steuerung der Flugbahn der Verbindung. Aufgrund der dynamischen Kopplung zwischen der Basis und dem Glied, bei der verschiedene Kräfte auf das Glied und den Manipulator wirken, weicht der Arm in Gegenwart von Auftriebskräften von seiner gewünschten Flugbahn ab. In dieser Dissertation werden die dynamische Modellierung und die Steuerung der Flugbahn eines Unterwasserroboters mit Hilfe eines Bindungsgraphen vorgestellt, der die Basis der Anlage, einen Verbindungsarm und den Motor umfasst. Der Unterwasserroboter wird mit der Integration des überwältigenden Reglers modelliert. Das integrierte Bond-Graph-Modell wird auch für das komplette Unterwasserfahrzeug erstellt.


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Product Details
  • ISBN-13: 9786206916000
  • Publisher: KS Omniscriptum Publishing
  • Publisher Imprint: Verlag Unser Wissen
  • Height: 229 mm
  • No of Pages: 52
  • Spine Width: 3 mm
  • Width: 152 mm
  • ISBN-10: 6206916006
  • Publisher Date: 06 Dec 2023
  • Binding: Paperback
  • Language: German
  • Returnable: N
  • Weight: 91 gr


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