七功能作业机械手的设计与优化  

Structure Design and Optimization of a Seven-function Manipulator

作　　者：曹为[1] 付剑波[1] 

机构地区：[1]海洋石油工程股份有限公司,天津300451

出　　处：《中国造船》2010年第A02期430-434,共5页Shipbuilding of China

摘　　要：作业型水下机器人（ROV）在海洋石油工程开发中有广泛的应用，机械手是ROV上作业系统的心脏。对七功能机械手主要关节进行了运动学分析，并以耗能最少为目标函数对机械手结构参数进行了优化，利用PRO／E进行了三维结构设计，对其主要结构进一步优化，虚拟仿真结果表明该机械手作业空间较大，作业灵活。Working-class ROVs are widely used in offshore oil and gas development, while the manipulator is the heart of the ROV working system. Kinematic analysis has been conducted for the main joints of the seven-function manipulator in this paper, and the structure parameters of the manipulator were optimized with the minimum energy consumption being the objective function; then 3D structure design was finished with PRO/E, in order to optimize the main structures further. The results of virtual simulation have shown that the manipulator has a large operating envelope and can work very flexibly.

关 键 词：机械手 运动学 优化设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]