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.
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.
那天他还下令彻底清刷游泳池，清洗了跳台、走道、躺椅和更衣室，并往池中倒入了比平时多16倍的氯粉。
He also ordered to complete the day-brush swimming pool, cleaning the platform, walkway, Tang Yi and the locker room and into the pool to more than 16 times the normal chlorine powder.
针对水下作业环境的特点，对机器人的本体结构、磁路结构、控制系统和清刷作业装置等关键技术进行了系统的研究。
According to the particular condition of underwater robot work, the paper studies the related key technology, including body structure, magnetic structure, control system, cleaning work set etc.
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.
针对清刷机器人水下作业的非线性特点，采用参数自调整模糊控制策略设计了位置模糊控制器，保证了机器人具有良好的姿态调节能力。
Due to the nonlinearity of the robot system, position controller USES the parameter self-adjusting fuzzy control strategy, which assures good pose regulating power.
针对清刷机器人水下作业的非线性特点，采用参数自调整模糊控制策略设计了位置模糊控制器，保证了机器人具有良好的姿态调节能力。
Due to the nonlinearity of the robot system, position controller USES the parameter self-adjusting fuzzy control strategy, which assures good pose regulating power.
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