一种载人潜水器用水下电动夹持器的设计  

Design of an Underwater Electric Gripper for Submersibles

作　　者：王璇[1] 古浪 沈允生[1] WANG Xuan;GU Lang;SHEN Yunsheng(State Key Laboratory of Deep-sea Manned Vehicles,China Ship Scientific Research Center,Wuxi 214082,China)

机构地区：[1]中国船舶科学研究中心深海载人装备重点实验室,江苏无锡214082

出　　处：《机械工程师》2022年第2期135-137,共3页Mechanical Engineer

基　　金：国家重点研发计划“海洋运载装备标准研究”(2017YFF0208402)。

摘　　要：设计了一种具有力反馈功能的载人潜水器用水下电动夹持器。该夹持器可搭载在液压机械手末端,使得机械手具备较大有效载荷能力的同时具有水下精细作业能力。开展了电动夹持器结构设计、电动机耐压设计,并提出了控制系统的总体方案。This paper designs an underwater electric gripper for submersibles with force feedback function. The gripper can be mounted on the end of the hydraulic manipulator, which has the large payload and fine underwater operation capability. The structural design and the motor pressure design of the electric gripper are carried out. The overall plan of the control system is proposed.

关 键 词：电动夹持器 载人潜水器 水下 

分 类 号：TH136[机械工程—机械制造及自动化]