RESEARCH OF THE OMNIDIRECTIONAL PROPULSION TECHNOLOGY FOR THE DEEP-SEA MOVABLE PLATFORM

The Deep-sea Movable Platform is a new generation of multi-purpose deep-sea survey equipment innovatively developed by Qingdao Institute of Marine Geology in response to the new requirements of precise sampling and fixed-point sample delivery during oceanic geological survey. The omnidirectional propulsion system is one of the key techniques of the platform. This paper elaborated the general idea of design for the deep-sea movable platform. Through mathematic modeling and mechanical analysis of the platform, the mathematical and physical models of the planar omnidirectional propulsion system is presented. According to different parameters and control variables, the simulation results of the omnidirectional propulsion system in the process of simulating oceanic geological survey are discussed.