Abstract
Aiming at the challenging frontier problem of umbilical cable properties theory, which has been puzzled by this kind of robot for many years but has not been solved yet, this paper proposes an umbilical cable properties modelling method based on Kirchhoff elastic bar theory. This method analyzes the force on the umbilical cable member in the equilibrium state, obtains the Kirchhoff equation of the mobile cable in the equilibrium state, and then establishes the physical characteristics model of the mobile cable, and obtains the form of umbilical cable and the stress on the end point by solving the model. The new modelling theory research on the physical characteristics of deep-sea umbilical cable carried out in this paper is expected to solve the problem of “unclear” problems of deep-sea slender umbilical cable, get rid of the dilemma of “blind man and elephant”, and provide guarantee for the safe and efficient operation of deep-sea robots.
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