自主式水下机械手系统研究  

THE RESEARCH ON AUTONOMOUS UNDERWATER MANIPULATOR SYSTEM

作　　者：王承禧[1] 徐国华[1] 黄群 李式捷 王宁[1] 

机构地区：[1]华中理工大学 [2]中船总公司709研究所

出　　处：《海洋工程》1996年第3期28-36,共9页The Ocean Engineering

摘　　要：本文从水下机械手的总体设计，关节直流电机的驱动和调速，手臂上声纳的水下搜索与跟踪，机械手系统的智能控制和电源等几个方面，介绍了有关自主式水下机械手系统的研究。This paper introduces the research on autonomous underwater manipulator system in several aspects, such as general design of underwater manipulator, drive and speed control of DC motors in the joints, underwater search and track with the sonars on the arm, intelligent control of menipulator system and power source. It is available for reference in the research and manufacture on autonomous underwater work system.

关 键 词：自主作业水下机械手智能控制 

分 类 号：P756[天文地球—海洋科学]