水下机械手设计及仿真研究

【作者】 张敏；

【导师】 石秀华；

【作者基本信息】 西北工业大学 ， 船舶与海洋结构物设计制造， 2005， 硕士

【摘要】 本文以水下平台为载体,设计了一水下作业型机械手,建立了其运动学和动力学方程。在此基础上对机械手的轨迹规划进行了研究,给出了实时生成轨迹的方法。利用机械系统动力学仿真软件ADAMS,对机械手的运动学、动力学分析和仿真技术进行了较深入、系统的研究,优化了其结构,并利用仿真数据计算出电机的主要参数。 在机械手的仿真分析方面,阐述了如何利用SolidWorks建立ADAMS需要的仿真模型,并对模型进行了参数化的建立和敏感性研究。 针对水下的特殊环境,在ADAMS中建立了水下机械手模型,并在模型中加入了水流干扰的模拟条件进行仿真,得出了运动学和动力学参数的仿真数据结果。 结合机械手动力学的特点,给出两种动力学分析方法。第一种是典型操作任务的动力学方法,利用该方法求解出典型操作任务下的各个运动参数,给出动力学优化目标函数,优化了机械手的结构;第二种是无路径搜索方法,利用该方法计算出机械手全工作空间内的极限载荷,得出仿真数据,用得到的数据计算出伺服电机的主要性能参数,为电机的选择打下基础。 本文从水下机械手的运动学、动力学参数设计角度出发,利用机械系统仿真软件ADAMS建立了一套设计和分析水下机械手的方法,解决了水下机械手本体设计中参数无法精确确定的难题,提高了水下机械手的设计精度。对快速、准确地开发水下作业型机械手,提高水下机械手性能具有重要意义。更多还原

【Abstract】 In this thesis, an underwater manipulator has been designed by author, and kinematics and dynamics equation of the manipulator has been set up. A method which to produce the trajectory in real time has been provided after studying trajectory planning theory of the manipulator. Kinematics and dynamics of the manipulator has been further and systematic studied in simulation technology with the Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software.In simulation analysis aspect, it has been elaborated that the problem how to establish a simulation model of the manipulator with the SolidWorks software. It has been discussed that the parameter establishment and the sensitive research in the model.A model has established according to the submarine environment in the ADAMS software. The model has had the function of simulating the fluent disturbance. The result has been obtained after the accomplishment of the simulation in ADAMS software.The thesis proposed two dynamics analysis method according as the manipulator dynamics characteristic. The first is the representative operation assignment dynamic method. Each kinematics parameter and the optimization function of dynamics has been calculated using the first method, and the structure of the manipulator has been optimized. The second is the non-trajectory searching method. The limit load of manipulator has been computed using the second method in entire space, then the parameter of the servo electromotor has been calculated with the simulation result.This thesis has established a method which how to analyses and simulate the underwater manipulator with the ADAMS software. The method has increased the design precision of the underwater manipulator and solved the difficult problem well which the parameter was unable to determine accurately in design. Therefore, the thesis has the vital significance for designing the underwater manipulator and enhancing the manipulator performance.更多还原