摘要
设计一款水下伸缩柔性臂式机器人,可以实现在深层水域环境下多自由度捕捉目标物。通过D-H参数法搭建伸缩臂运动模型,运用MATLAB基于模拟环境检验伸缩臂在一定空间运动避障的关节特性,进一步验证设计的高效性。通过多组ANSYS仿真试验验证伸缩臂力学特性,基于伸缩臂的六阶固态效应和形变量变化综合分析出伸缩臂水下耐压性能好,抗噪性强的特点,结合运动特性运用ADAMS对伸缩臂进行水下作业模拟,验证驱动参数对其影响,仿真结果表明伸缩臂水下搜寻目标物避障效果明显,波动小,速度快的运动优良特性。
An underwater telescopic flexible arm robot is designed to achieve multi-degree-of-freedom capture of target objects in deep water environment.The motion model of the telescopic arm is built by the D-H parameter method,and MATLAB is used to examine the joint characteristics of the telescopic arm based on the simulation environment to avoid obstacles in a certain space motion to further verify the efficiency of the design.The mechanical characteristics of the telescopic arm were verified through several groups of ANSYS simulation tests,and the characteristics of underwater pressure resistance and noise resistance were analyzed based on the sixth-order solid state effect of the telescopic arm and the change of shape variables of the telescopic arm.The simulation results show that the telescopic boom has obvious effect of underwater target search and obstacle avoidance,low fluctuation and high speed.
作者
靳华伟
季海涛
Jin Huawei;Ji Haitao(Anhui Key Laboratory of Mine Intelligent Equipment and Technology;School of Mechanical Engineering,Anhui University of Science and Technology,Huainan,Anhui 232001,China)
出处
《黑龙江工业学院学报（综合版）》
2023年第9期138-149,共12页
Journal of Heilongjiang University of Technology(Comprehensive Edition)
基金
国家自然科学基金项目(项目编号:51904009)
矿山智能装备与技术安徽省重点实验室开放基金(项目编号:ZKSYS202102)。
关键词
伸缩式机械臂
静应力分析
结构刚度
力学特性
telescopic mechanical arm
static stress analysis
structural stiffness
mechanical property
