水下机械手的结构优化设计  

Structure optimizing design of the submarine dexterous hand

作　　者：赵建斌[1] 王华[2] 贺泽[3] 

机构地区：[1]中国船舶重工集团公司第七0四研究所,上海200031 [2]南京工业大学机械与动力工程学院,南京210009 [3]青岛科技大学机电学院,青岛266061

出　　处：《机电设备》2007年第6期1-6,共6页Mechanical and Electrical Equipment

摘　　要：随着水下作业机器人在探测、打捞、管线检测与修复等领域的应用不断深入,水下多指机械手的研制和开发逐渐受到各国机器人研究者的关注和重视.文中基于对非水环境机械手设计经验的总结,设计了三指水下机械手及其防腐密封结构,对结构参数进行了优化设计,根据优化设计结果研制了三指水下机械手原理样机,测试结果表明该手可灵活抓取多种复杂表面的物体,能部分代替人工水下作业.With the increasing application of the submarine robot in exploration,salvage,pipe inspection and repair,more and more researchers begins to pay attention to the investigation of the submarine Multi-Fingered Dexterous Hand.Based on the summarization of the non-water environment,the tri-fingered dexterous hand and its anti-corrosion sealing structure have been designed,meanwhile,the structure parameters have been optimized.According to the optimizing results,the prototype of the tri-fingered dexterous hand has been developed and the testing results show that this tri-fingered dexterous hand can grasp diverse complex objects,and it can substitute people for the submarine manual work partially.

关 键 词：水下 机械手 结构优化 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]