仿乌贼水下采样机械手建模与仿真  

Modeling and Simulation of Cuttlefish-imitating Underwater Sampling Manipulators

作　　者：张学海 杨泽慧 王汝贵[1] 曾起能 Zhang Xuehai;Yang Zehui;Wang Rugui;Zeng Qineng(School of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,广西南宁530004

出　　处：《机械传动》2024年第6期58-64,共7页Journal of Mechanical Transmission

摘　　要：为了解决机械手在水下作业过程中由于施加过大的压力而造成样本的破损、抓取后样本无法保存等问题,设计了一种仿照乌贼进食的水下采样机械手。机械手由两个耦合气缸驱动器驱动;其内部设有偏置叶轮泵,形成低压区,带动水流无接触吸取难采集的样本。建立机械手三维模型,计算机械手运动学方程,用闭环矢量法求解了驱动器与末端执行器之间的函数关系,得到了工作空间和运动轨迹,验证了机械手结构的合理性和可行性。最后,将该机械手装配到水下采样机器人上,仿真试验水下不同角度航行采样时的整体受力情况,为该机械手在今后视觉控制水下采样等方面的研究打下了一定的基础。In order to solve the problem of sample damage caused by excessive pressure exerted by the manipulator during underwater operation and the problem that sample cannot be saved after grasping,this study designs an underwater sampling manipulator driven by two coupling cylinder drivers that imitates the eating mode of acuttlefish.There is a bias impeller pump inside the manipulator,which forms a low pressure area to drive the water flow to draw the samples that are difficult to collect without contact.The three-dimensional model of the manipulator is established and the kinematics equation of the manipulator is calculated.The functional relation between the driver and the end effector is solved by the closed-loop vector method.The workspace and trajectory planning are obtained,and the rationality and feasibility of the manipulator structure are verified.Finally,the manipulator is assembled on the underwater robot,and the underwater navigation sampling at different angles is simulated,which lays a certain foundation for the future research of the manipulator in visual control and grasping.

关 键 词：水下机械手 仿生 采样机构 运动学分析 工作空间 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]