水下七功能电动机械手设计研究

Structure Design of 7F Underwater Electric Manipulator and Feasibility Analysis

以适用于水下自主作业的电动机械手为研究对象,通过设计一个具有六自由度和夹钳剪切功能机构,组建了一个水下自主作业七功能电动机械手。机械手主要包括三个基本运动模块和一个夹钳剪切模块,具有质轻,作业范围大,回收状态良好等特点;机械手实现了内部走线,深海密封作业,关节绝对位置的检测和高精度控制。介绍了水下七功能电动机械手的整体结构,典型运动模块结构和工作原理,并对机械手进行运动学分析及作业空间分析,对其关键关节进行静力学分析,动力学仿真和有限元分析,验证机械手结构设计的可行性。

Taking the electric manipulator as the research object which can operate autonomously underwater, through designing a mechanism with six degrees of freedom and a function of clippering and cutting, it forms a 7function electric manipulator working autonomously underwater. The manipulator mainly includes two basic movement module and a clippering and cutting module, and possesses advantages of lightweight, large operating range and good recovery state; also, it achieves goals of cable going inside, deep-water-sealing operation, detection of the joint＇s absolute position and high precision control. h introduces the overall structure of underwater 7 function electric manipulator, the structure of its main movement module and working principle, and conducts analysis on the manipulator＇s kinematics and operating space, and carries out statics analysis, dynamic simulation and finite-element analysis on the main joint to prove the feasibility of the manipulator structure design.