完成了船体表面清刷机器人的总体设计。
Therefore, collectivity design on The Underwater Ship Hull Cleaning Robot is finished.
水下清刷装置是水下船体表面清刷机器人的关键部件。
An underwater cleaning tool is one of the key parts of a robot for cleaning underwater shell of a ship.
吸力杯传感器安装在最铝，木材和玻璃纤维船体表面光滑。
Suction cup transducer mounts on most aluminum, wood and fiberglass hulls with smooth surface.
磁路结构的设计是保证机器人在船体表面可靠吸附的关键技术。
The design of magnetic structure is the key technology of ensuring reliable adsorption of the robot on the ship hull.
水下船体表面清刷作业机器人是一种新型的用于水下特种作业的机器人。
The robot for underwater brushing hull is a new type of robot that will be applied to underwater special operation.
根据水下船体表面的作业环境，提出永磁体吸附、双履带式结构的清刷机器人的本体方案。
According to the working environment, a reality structure scheme using permanent magnet adsorption and twin pedrail type structural cleaning robot is put forward.
为了保证水下船体表面清刷机器人吸附可靠和运动灵活，需要合理地确定机器人的吸附力和驱动力矩。
To assure adsorption reliability and movement agility of an underwater robot that will clean a ship's hull, the adsorbability and drive torque should be ascertained properly.
结果表明，单区阴极保护系统辅助阳极位置决定船体表面电位曲线的形状，参比电极影响曲线电位值的大小。
Resultsfrom a single-zone system show that the shape of the potential profile is determined by anode location and its level by the setting ofthe reference electrode.
在上述研究工作的基础上，采用理论计算与模型试验相结合的方式，研究了船体表面水动压力的非线性特性。
The characteristic of this method focuses on the matching between the instantaneous pressure distribution and the ship motion in a dynamic sense.
本文主要完成水下船体表面清刷机器人的本体、清刷装置和控制系统设计，并对清刷机器人的位置检测方式进行研究。
In the dissertation, the design about reality and cleaning device and controlling system of the Underwater Ship face cleaning Robot has mostly been fulfilled.
为了实现水下船体表面清刷机器人在水下船体表面上的可靠吸附和灵活移动功能，对机器人磁吸附机构进行了设计研究。
A magnetic absorbing machine of underwater ship hull surface cleaning robot was innovated for obtaining better performance of the robots absorbing and moving function.
针对机器人在水下作业的特点，分析了有波浪作用时机器人在船体表面的运动，建立了机器人在船体表面静止和运动两种状态下的力学模型。
Considering the underwater work environment, the author analyses the robot movement on the ship hull with wave action, and establishes mechanics model of the robot in stationary and moving state.
针对机器人在水下作业的特点，分析了有波浪作用时机器人在船体表面的运动，建立了机器人在船体表面静止和运动两种状态下的力学模型。
Considering the underwater work environment, the author analyses the robot movement on the ship hull with wave action, and establishes mechanics model of the robot in stationary and moving state.
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