Design and Dynamic Analysis of an Underwater Manipulator
Underwater Vehicle/Manipulator System(UVMS)is an important equipment for the exploitation of marine resources.The paper introduces a fivefunction manipulator,which is the main operating tool of UVMS and has four DOFs and a claw.All joints are driven by hydraulic cylinders for a better impermeability to seawater.A novel wrist mechanism utilizing groove cam is presented for achieving a rotation motion output.In addition,the dynamics of the manipulator interacting with the UVMS system is analyzed based on Kanes method.The effects from the fluid environment are also taken into consideration,which include added mass,drag force,and buoyancy.Finally,dynamic simulations of UVMS are performed to reveal the effect of the volume ratio between the manipulator and vehicle on the stability of UVMS and a critical ratio is found.
UVMS Underwater manipulator Wrist mechanism Hydrodynamic forces Volume ratio
Wuxiang Zhang Hongcheng Xu Xilun Ding
School of Mechanical Engineering and Automation,Beihang University,100191 Beijing,China State Key Laboratory of Robotics and System(HIT),150006 Harbin,China
国际会议
The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)
福州
英文
399-409
2015-05-08（万方平台首次上网日期，不代表论文的发表时间）