三自由度水下机械手研制

Research on Underwater Manipulator with Three DOF

为了研究无人无缆自主式水下机器人的深海作业性能,在分析了水下机械手工作环境及作业性能的基础上,研制了三自由度水下机械手。在考虑了本体材料、耐压壳体形状、水密接插件和关节走线形式等基础上,进行了水下机械手的本体结构设计,同时也对水下机械手的关节驱动方式进行了研究。为了实现对水下机械手的有效控制,采用上位机和下位机两级控制方式,并完成了硬件和软件设计。最后进行了实验调试,其结果表明了所研制的水下机械手满足设计要求。

In order to study the work performance of Autonomous Underwater Vehicle （AUV） in the deep sea, the underwater manipulator with 3-DOF is developed which based on the analysis of the operating performance and the working environment of the underwater manipulator. On the basis of the body material, the pressure hull shape, the watertight connector and the joint cable-link manners, the body structural of the underwater manipulator is designed, simultaneously the joint drive type to be researched too. In order to control the underwater manipulator effectively, the two cascade control manners of PC and the next crew is used, and the design of hardware and the software is completed. Finally it is the experiment debugging, and its result has indicated that the underwater manipulator satisfies the design requirements.