Design of Thrust Attachment Underwater Robot System in Nuclear Power Station Pool

It's an important application of a robot in the field of a nuclear power station to realize welding for a nuclear reaction pool in emergency and patrol daily. A cable underwater robot system with a full range of motion which can attach on the wall by propeller was put forward in consideration of bump and pipeline at the bottom or side wall of a reaction pool. The position change of center of gravity, center of buoyancy and the change of moment of inertia were analyzed when the movements of the body and an operating device cooperate with each other, and a dynamic model of a robot was established. The position and attitude changes with time were compared before and after adjusting the position of an operating device under no thrust input by Matlab/Simulink. The rotating efficiency of a robot is improved by adjusting the position of an operating device. The dynamic equation for this robot lays a good foundation for controller design.