七功能水下液压机械臂设计  

Design of Seven-function Underwater Hydraulic Manipulator

作　　者：赵飞 姚震球 凌宏杰 ZHAO Fei;YAO Zhen-qiu;LING Hongjie(School of Electrical and Information,Zhenjiang College,Zhenjiang Jiangsu 212028,China;Institute of Marine Equipment Research,Jiangsu University of Science and Technology,Zhenjiang Jiangsu 212003,China)

机构地区：[1]镇江市高等专科学校电气与信息学院,江苏镇江212028 [2]江苏科技大学海洋装备研究院,江苏镇江212003

出　　处：《船海工程》2024年第1期52-56,共5页Ship & Ocean Engineering

基　　金：江苏省产业前瞻与共性关键技术资助项目(BE2017121);镇江市产业前瞻与共性关键技术资助项目(GY2021002);江苏省高职院校教师专业带头人高端研修项目(苏高职培函[2023]9号)。

摘　　要：针对有缆遥控水下机器人上要求搭载的机械臂占地面积小、动作范围大的问题,对包括偏转和俯仰在内的6自由度位置变化及抓取的7功能水下液压机械臂进行设计、仿真以及实验分析,利用多目标优化模型对抓取卡爪进行设计,计算液压缸最短行程时,可实现的卡爪开合范围;建立机械臂的D-H参数模型,对机械臂的正运动进行求解,采用Matlab软件仿真分析6个活动关节的运动姿态;搭建功能样机和工程样机开展机械臂的陆上动作及水下试验验证,结果表明,机械臂的6个活动关节位置、速度以及加速度曲线都光滑平顺、无突变,无超调现象;机械臂含抓取卡爪的结构设计合理。In order to solve the problems of small footprint and large range of motion required by the cabled remote controlled underwater vehicle(ROV),the design,simulation and experimental research of the six-degree-of-freedom position change including deflection and pitch and the captured seven-function underwater hydraulic robot arm were carried out.A multi-objective optimization model was used to design the grabbing claw.The opening range of the claw was computed under the minimum stroke of the hydraulic cylinder.The D-H parameter model of the manipulator arm was established to calculate the positive motion of the manipulator arm,and the motion postures of the six active joints were simulated by using Matlab.The functional prototype and engineering prototype were built to carry out the onshore movement and underwater test verification of the mechanical arm.The results showed that the position,speed and acceleration curves of the six active joints of the robot arm are smooth and without sudden change,and there is no overshoot phenomenon,so the structure design of the mechanical arm with grabbing claw is reasonable.

关 键 词：机械臂 抓取卡爪 运动学分析 D-H参数法 MATLAB仿真 

分 类 号：U664.6[交通运输工程—船舶及航道工程] TP241[交通运输工程—船舶与海洋工程]