Design of Seven-function Underwater Hydraulic Manipulator
In order to solve the problems of small footprint and large range of motion required by the cabled remote con-trolled 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 rea-sonable.
万方数据
维普
