水下作业机械手运动学分析与仿真

Kinematics analysis and simulation on Underwater Manipulator

针对水下作业机械手难于实现负载能力与灵活性相统一的问题,设计了一种采用欠驱动机构的水下作业机械手,建立了该机械手的三维模型,并对机械手的工作原理和运动学特性进行了分析与仿真。从分析与仿真的结果可以看出,采用欠驱动机构可以解决机械手自由度数目、驱动方式、质量和灵活性之间的矛盾。该机械手采用液压方式实现对机械手11个自由度的驱动,具有驱动力大、结构简单、操作灵活的特点,可适应多种不同任务的水下作业需要。

The operating characteristics of the existing underwater manipulators are analyzed. It in the difficult that the underwater manipulator has both the load capacity and the flexible capacity, an underactuated underwater manipulator structure is designed, the 3D models of the manipulator is established, and the manipulator＇s kinematic characteristic is researched and simulated. It can be seen from the simulation results that the contradictions between the number of the DOE the driving mode, the weight and the flexibility can be solved by using the underactuated structure. The driving of the 11 DOF of the underwater manipulator is achieved by using hydraulic approach. It has strong driving force, simple structures and flexible operating capacity, and it can adapt to a variety of different tasks of the underwater operational requirements.