ABSTRACT

In order to study the fluid resistance characteristics of the underwater dredging robot, the flow field of the underwater dredging robot was simulated by CFD method under the condition of the different rotation angles of the superstructure and the different inflow velocities. The numerical results show that the total fluid resistance of the underwater dredging robot increases rapidly with the increase of the rotation angle θ, and then the growing rate decreases. When the rotation angle θ is 0°, the amplitude of the total fluid resistance of the dredging robot is the largest, and with the increase of the rotation angle θ, the amplitude of the total fluid resistance decreases gradually. Compared with the components of the underwater dredging robot, the fluid resistance of the rotating system and platform is much smaller than that of other components, and the fluid resistance of the mechanical arm and the box accounts for a large part of the total fluid resistance of the underwater dredging robot. When the superstructure of the underwater dredging robot is at different rotation angles, there are great differences in the vorticity field. And the change of the vorticity field behind the mechanical arm and the box is the most obvious. Under the different inflow velocity conditions, the amplitude of the total fluid resistance of the underwater dredging robot gradually increases with the increase of the flow velocity. And the total fluid resistance and the fluid resistance of each component increase as a quadratic function with the increase of the flow velocity. Compared with the vorticity field of the underwater dredging robot at different inflow velocities, the vortex scale and influence range obviously increase with the increase of the inflow velocity.

INTRODUCTION

With the rapid development of the world's dredging industry, the problems faced by dredging operations are becoming increasingly prominent. The complex dredging environment, the hard soil and other dredging conditions pose great challenges to the research and development of the dredging equipment (Gao, 2009; Luo, 2018; Zhang, 2006). as one of the dredging equipment, the underwater dredging robot has the ability to carry out various operations in complex and harsh environment, terrain and dangerous waters (Bai, 2018; Cao, 2014). Therefore, the underwater dredging robot has become a research hotspot in the dredging field at present.

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