水下机器人收放系统执行机构构型综合研究  

Configuration Synthesis of Actuators for Underwater Vehicles'Receiving and Placing System

作　　者：姜明阳 刘海龙 郭川东 陈德鹏 张林 Jiang Mingyang;Liu Hailong;Guo Chuandong;Chen Depeng;Zhang Lin(School of Construction Machinery,Shandong Jiaotong University,Jinan 250357,China;Shandong Tianyi Machinery Co.,Ltd.,Jining 272100,China;Shandong Provincial Engineering Laboratory of Traffic Construction Equipment and Intelligent Control,Jinan 250357,China)

机构地区：[1]山东交通学院工程机械学院,山东济南250357 [2]山东天意机械股份有限公司,山东济宁272100 [3]山东省交通建设装备与智能控制工程实验室,山东济南250357

出　　处：《机械传动》2024年第7期40-48,100,共10页Journal of Mechanical Transmission

基　　金：山东省2022年度中央引导地方科技发展资金项目(YDZX2022081);山东省科技型中小企业创新能力提升工程项目(2022TSGC1379);山东交通学院校级教学改革研究项目(2019YB17)。

摘　　要：针对现有水下机器人收放系统存在结构形式单一、转运范围受限的问题,借助图论相关理论,进行收放系统执行机构构型综合研究,最终建立了14种收放系统执行机构构型图库。首先,基于胚图插点法进行平面九杆单铰机构类型综合,得到40种单色拓扑图谱;其次,基于40种单色拓扑图谱提出一种平面九杆仅含单个复铰机构类型综合方法,通过单色拓扑图谱转化及其特定标记并按一定规则生成复铰机构特征数组,进而基于特征数组实现机构同构判断及其消极子链识别,得到83种双色拓扑图谱;然后,基于平面九杆单、双色拓扑图谱,结合收放系统工作特点,提出6条收放系统执行机构构型筛选条件,筛选得到71种可行构型;最后,基于71种可行构型,综合考虑机构控制、造价、美观问题,提出3条构型优选准则,最终得到14种最佳构型,并选取1种最佳构型进行了运动仿真分析。结果表明,新型收放系统执行机构满足工况要求,末端集成吊具能够实现远近位移及精确定位,机构构型设计的合理性得到验证。Aiming at the problems of single structure form and limited transporting range of existing underwater vehicles,receiving and placing system,this study carries out comprehensive research on actuator configuration of the receiving and placing system with the help of relevant graph theory,and finally establishes 14 actuator configuration libraries of the receiving and placing system.Firstly,the types of the planar nine-bar singlehinge mechanism are synthesized based on the method of blastogram insertion,and 40 kinds of monochrome topological maps are obtained.Secondly,based on 40 kinds of monochrome topological maps,a method for synthesizing planar nine-bar mechanism with only one type of complex hinge mechanism is proposed.By transforming the monochrome topological map and its specific markings,and generating feature array of the complex hinge mechanism according to certain rules,the mechanism isomorphism judgment and negative sub-link recognition are realized based on the feature array,and 83 kinds of bi-color topological maps are obtained.Then,based on the flat nine-bar single-color and two-color topological map and combining the operating characteristics of the collection system,six configuration screening conditions for the implementation mechanism of the collection system are proposed and 71 feasible configurations are selected.Finally,based on 71 feasible configurations and considering mechanism control,cost and aesthetics comprehensively,three configuration optimization criteria are proposed,and 14 optimal configurations are finally obtained.An optimum configuration is selected for motion simulation analysis.The results show that the actuator of the new placing system meets the operating conditions,the end integrated hoist can achieve far and near displacement and accurate positioning,and the rationality of the mechanism configuration design is verified.

关 键 词：图论 复铰 构型综合 收放系统 水下机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]