深海液压机械手连杆参数优化研究  

Research on parameters optimization of connecting rod of deep sea hydraulic manipulator

作　　者：姚卓 张奇峰[2,3] 霍良青[2,3] 翟宝琦[1,2,3] 刘涛 YAO Zhuo;ZHANG Qifeng;HUO Liangqing;ZHAI Baoqi;LIU Tao(School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]东北大学机械工程与自动化学院,沈阳110819 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [3]中国科学院机器人与智能制造创新研究院,沈阳110169 [4]中国科学院大学,北京100049

出　　处：《现代制造工程》2021年第8期40-47,共8页Modern Manufacturing Engineering

基　　金：国家重点研发计划项目(2016YFC0300401)。

摘　　要：搭载在工作级遥控潜水器上的液压机械手在深海作业中应用广泛。在几千米的深海中,深海液压机械手需承受几十兆帕的高压,由此带来的密封问题限制了深海液压机械手的构型和各关节驱动器的结构。为寻求最优的深海液压机械手连杆参数配置,结合深海液压机械手的特点提出全局工作空间下的灵活度和可操作度性能指标,并对其计算方法进行改进,改善了蒙特卡洛法造成的点集局部密集或稀疏的情况;利用遗传算法对深海液压机械手的连杆参数进行优化,得到了基于全局工作空间下的灵活度和可操作度性能指标的最佳连杆参数配置。通过深海液压机械手的运动仿真分析表明:经过优化后的深海液压机械手的部分位姿出现局部性能指标下降,但其关节运动速度波动情况得到改善,整体性能得到提升,验证了优化方法的可行性。The hydraulic manipulators configured on the working class Remote Operated Vehicle(ROV)are widely used in the deep sea operation.In the thousands of meters deep sea,the deep sea hydraulic manipulator needs to bear dozens of MPa,which will cause the sealing problems,limit the the configuration and the structure of the actuators.In order to search the optimal connecting rod parameters configuration,according to the characteristics of deep sea hydraulic manipulator,performance index of flexibility and operability in global workspace was proposed.The computing method was improved,the local dense or sparse point set caused by Monte Carlo method was improved.The parameters of connecting rod of deep sea hydraulic manipulator were optimized by the genetic algorithm,which got the best connecting rod parameter configuration based on the flexibility and operability performance index in global workspace.After optimization,part of positions and orientations showed the local performance index declined.But the joint movement speed fluctuation of the manipulator has been improved.The overall performance of the manipulator has been improved,verifying the feasibility of the optimization method.

关 键 词：深海液压机械手 工作空间灵活度 可操作度性能指标 机构参数优化 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]