水产养殖用水下移动机械手的耦合动力学分析  

Analysis of coupling dynamics of underwater mobile manipulator for aquaculture

作　　者：常宗瑜[1] 姚冰川[1] 王磊[1] 张喜超[1] 徐长密[1] 

机构地区：[1]中国海洋大学工程学院,山东青岛266100

出　　处：《机械设计》2012年第2期47-50,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51175484);青岛市应用基础资助项目(08-1-3-37-jch)

摘　　要：对水下移动机械手系统中本体与机械手之间的耦合动力学进行了研究,分别采用指数积方法和凯恩方程对水下移动机械手系统进行了运动分析和动力学建模并进行了求解,模拟了机械手在展开的过程中本体的运动,该研究工作对于进一步了解水下机械手的工作特点和开展机构的控制有重要价值。As the underwater mobile manipulator has a much better prospect in aquaculture industry, the coupling dynamics be tween ontology and manipulator in underwater vehicle and manipu lator system is studied in this paper. The exponential product meth od and Kane＇s equations are used to carry out motion analysis and build the dynamic model of UVMS respectively and it was solved. The ontology movement model during development of the manipula- tor was simulated. The work is very useful to understand dynamic characteristics of UVMS and control of the development mechanism.

关 键 词：水下移动机械手 耦合动力学 Morison公式 凯恩方程 指数积公式 

分 类 号：TH112[机械工程—机械设计及理论]