面向作业任务的AUV用自主式机械手结构设计

The Structure Design of Autonomous Underwater Manipulator Used by AUV with Operative Task Orientation

论述了研制的自主作业水下机械手的总体、结构设计特点和主要性能技术指标 .机械手装备于自主式潜水器 (AUV)上 ,具有五个自由度 ,直流力矩电机驱动 ,最大作业水深为 10 0m .机械手具有结构轻巧、运动传递精确、手爪可更换和被动柔顺功能等特点 .可在计算机控制下面向对象自主作业 .讨论了机械手的运动学计算。

The overall design, structure design features and mainly functional and technological indexes of designed Autonomous Underwater Manipulator are discussed. Installed on Autonomous Underwater Vehicle (AUV) and driven by DC torque motor, the manipulator has five degrees of freedom. The deepest operation can be conducted 100 meters below the water. The manipulator has the features such as light and handy structure, precise motion transmission, changeable claw and the function fo passive compliance. And it can operate autonomously with targets orientation under the control of the computer. Its kinematics computation, computer simulation, debugs and experiments are also introduced.