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Research on Mating Technology between Underwater Manipulator and Automatic Toolkit

Author: DuWeiJie
Tutor: MengQingZuo
School: Harbin Engineering University
Course: Mechanical and Electronic Engineering
Keywords: Underwater operating system Docking position and orientation Static stiffness Automated docking
CLC: TP241
Type: Master's thesis
Year: 2005
Downloads: 277
Quote: 3
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Abstract


The underwater operating system is an important part of the underwater robot Underwater Manipulator , underwater operations tool library , underwater operations tools and control systems . Automated docking technology research robot with tools for system underwater automatic replacement work tool , not to return to the surface to complete the complex task of operating is of great significance . This article describes the underwater part of the operating system , the analysis of the mechanical structure and control system of the Underwater Manipulator and underwater operations tool library ; homogeneous transformation matrix of the robot and the tool library , and analysis of the robot and tools docking strategy , as well as the robot's butt bit posture , tool library docking bit posture and tool library phase for the robot bits posture so as to determine a docking mechanical hand and tool library of pose relations ; robot's big arm swing joints , forearm pitch joint , wrist pitch joint by symmetric valve control asymmetric hydraulic cylinders drive , robotic single joint servo control system transfer function ( including servo valve spool valve body left and right movement of the transfer function of the system single joint static stiffness ) can be obtained ; using differential transform method construction machinery hand of Jacques than the matrix , the use of single joint static stiffness and Jacques than the matrix obtained robot 's operation soft degrees , and thus get the end of the robot static stiffness ; final of mechanical hands and tools of the docking systems analysis , to include the hydraulic automatic docking wrist and oil system .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Manipulator
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