为实施潜艇艇体状态检测，基于BuleROV2 Heavy水下机器人，设计一种便携式潜艇艇体水下状态检测机器人，并借助Ansys有限元分析软件对水下机器人在爬行状态情况下抗流能力进行了仿真分析。通过样机试验表明：该水下机器人能够“吸附”在艇体表面实现对艇体水下部位的安全检查，为潜艇航行提供安全保障。
In order to implement the submarine hull state inspection, a portable submarine hull underwater state inspection robot is designed based on an underwater robot, and the anti-current ability of the device in crawling state is simulated and analyzed by finite element analysis software Ansys . The prototype test shows that the robot can stick to the surface of the hull and finish the safety inspection of the underwater part of the hull, and also guarantee the safety for submarine sailing.
2022,44(14): 177-180 收稿日期：2022-01-20
DOI：10.3404/j.issn.1672-7649.2022.14.037
分类号：U672
作者简介：薛延华 (1974-)，男，硕士，副教授，研究方向为潜水装备及水下工程技术
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