船用水下机械臂载体结构设计及稳定性分析  

Structural Design and Stability Analysis of Carrier of Underwater Manipulator for Marine

作　　者：胡淼 韩江桂[1] 郭文勇[1] HU Miao;HAN Jianggui;GUO Wenyong(College of Power Engineering,Naval University of Engineering,Wuhan 430033,China)

机构地区：[1]海军工程大学动力工程学院,武汉430033

出　　处：《兵器装备工程学报》2021年第10期254-260,共7页Journal of Ordnance Equipment Engineering

基　　金：国家部委科研项目(HJ20182C070236)。

摘　　要：为了保证舰船在航率并提高其水下应急维修的自动化水平,根据某型维修对象船体的结构尺寸设计了一种固定式的水下机械臂载体结构,并对其进行极限环境荷载作用下的强度和刚度校核;利用解析法和数值法对载体结构末端的水下机械臂运动学逆解进行了计算和验证;搭建虚拟仿真实验平台模拟水下机械臂末端切割工具沿着舰船螺旋桨叶片运动,分析并验证水下机械臂的操控稳定性。结果表明:水下机械臂载体结构的强度和刚度均符合结构设计要求,可以输送并搭载水下机械臂及其辅助设备进行水下作业并保证其作业精度;机械臂末端到达目标位置的X向误差为0.5 mm,Y向误差为0.4 mm,Z向误差为0.8 mm,运动学模型及所求逆解正确;水下机械臂运动平稳,其末端作业工具到达预设位置的平均误差为0.49 mm,协调性和操控性较好。所设计的水下机械臂载体结构可以搭载机械臂实现预期的操作任务,操控稳定性较好。In order to ensure the ship’s navigation rate and improve the automation level of underwater emergency maintenance,we designed a fixed underwater manipulator carrier structure according to the structural size of a certain type of maintenance object hull,and checks its strength and stiffness under the action of ultimate environmental load.The inverse kinematics solution of the underwater manipulator at the end of the carrier structure was calculated and verified by analytical and numerical methods.A virtual simulation experiment platform was built to simulate the movement of the cutting tool at the end of the underwater robot arm along the ship’s propeller blade,and to analyze and verify the control stability of the underwater robot arm.The results show that the strength and stiffness of the carrier structure of the underwater manipulator meet the structural design requirements,and it can transport and carry the underwater manipulator and its auxiliary equipment for underwater operation and ensure its operation accuracy.The X-direction error,Y-direction error and Z-direction error of the end of the robot arm reaching the target position are 0.5 mm,0.4 mm and 0.8 mm respectively.The kinematics model and the inverse solution were correct.The movement of the underwater manipulator is stable,and the average error of the end operating tool reaching the preset position is 0.49 mm,with good coordination and maneuverability.It can be seen that the carrier structure of the underwater manipulator designed in this paper can carry the manipulator to achieve the expected operation task,and the control stability is good.

关 键 词：水下机械臂 应急维修 载体结构 运动学分析 逆解 稳定性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]