智能化水下机械手的研究  

Research for an Intelligent Underwater Manipulator

作　　者：张广斌[1,2,3] 沈庆伟[1] 

机构地区：[1]安徽建筑工业学院计算机工程系,合肥230601 [2]中国科学技术大学自动化系,合肥230026 [3]中国科学院合肥智能机械研究所,合肥230031

出　　处：《自动化与仪表》2011年第10期4-7,共4页Automation & Instrumentation

基　　金：国家高技术研究发展计划863资助项目(2006AA04Z244);安徽省教育厅自然科学项目(KJ2011z054)

摘　　要：水下机械手的研究和设计对水下机器人的应用和发展具有重要的影响,而智能化水下机械手要具有自主路径规划和目标类型判断的功能。文中首先简要叙述了水下机械手的发展现状和存在问题,然后通过分析抓取任务及环境信息的获取,设计了系统的硬件结构和软件组成。接着通过对水下机械手进行数学建模,阐述了抓取操作的工作原理,并给出了一个抓取过程的实例曲线。The study of underwater manipulators reseach and design was very important for the application and development of underwater robot. Moreover, an intelligent underwater manipulator has the functions of autonomous motion planning and objects types judging. Firstly, the development status and existing problems of underwater manipulator was describes simply,and architecture of hardware and structure of software were designed through analyzing grasp task and acquisition of environment information. Then the working principles of grasping operation were elaborated based on establishment of mathematical model for underwater manipulator. At last, a curve instance of grasping operation was presented.

关 键 词：水下机械手 力信息 抓取 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]