基于蛟龙号的深海切割采样系统设计与分析

Design and analysis of the deep-sea cutting sampling systems based on the Jiaolong

目前通过作业工具配合载人潜器进行深海采样成为一种趋势,通过对蛟龙号机械手的分析和不同深海作业工具的研究,设计一种新型深海矿石切割采样设备。并通过MATLAB软件对机械手以及携带刀具后的切割采样系统进行了工作空间和轨迹分析,比较搭载作业工具前后的作业空间变化,并通过ADAMS软件对几种不同机械手作业姿态的受力进行分析,对潜器的坐底定位和切割作业时机械手的姿态具有指导作用。

Currently operating tools with deep-sea manned submersible sampling become a trend, through the analysis of the Jia- olong manipulator and manned submersible device with different tools, design a new deep-sea mineral cutting sampling equip- ment. The manipulator and carry knives cutting sampling system are analyzed in the workspace and trajectory by MATLAB, com- pare whether pick up tools work space change, and through the ADAMS to analysis the stress of several different mechanical oper- ating posture, has a guiding role to the positioning of the bottom of the submersible and the operation posture of the manipulator＇s in cutting operation.