【作者】 杜维杰；

【导师】 孟庆鑫；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2005， 硕士

【摘要】 水下作业系统是水下机器人的重要部分,包括水下作业机械手、水下作业工具库、水下作业工具及控制系统。研究机械手与工具的自动对接技术对于系统在水下自动更换作业工具,不返回水面便可完成复杂的作业任务有着重要意义。 本文介绍了水下作业系统的各个组成部分,主要对水下作业机械手和水下作业工具库的机械结构和控制系统进行了分析;建立了机械手和工具库的齐次变换矩阵,分析研究了机械手与工具的对接策略,以及机械手的对接位姿、工具库的对接位姿和工具库相对于机械手的位姿,从而确定了对接时机械手与工具库的位姿关系;机械手的大臂摆动关节、小臂俯仰关节、手腕俯仰关节都是由对称阀控制非对称液压缸驱动的,利用机械手单关节伺服控制系统的传递函数(包括伺服阀滑阀阀芯向左和向右运动时系统的传递函数)可以求出单关节静刚度;用微分变换法构造机械手的雅克比矩阵,利用单关节静刚度和雅克比矩阵求出机械手的操作柔度,进而得到机械手末端静刚度;最后对机械手和工具的对接系统进行了分析,包括液压自动对接腕和油路系统。更多还原

【Abstract】 Underwater operational system is an important part of the underwaterrobot, including researching, underwater operational manipulator, underwater operational toolkit, the system of underwater operational tool and controlling. It is significant to research into the technique of joining the underwater operational manipulator to the toolkit, because with this technique the underwater operational system will be able to accomplish some complex operational tasks, such as auto matically changing operational tools.In this article the author recommeds all parts of underwater operational system and mainly analyzes mechanical frame and controlling system to underwater operational manipulator and underwater operational toolkit. It build matrix of manipulator and toolkit and ofler some solutions to the joint of manipulator and toobs. It makes the cation of joint relation ship of to manipulator and toolkit. under the drive of symmetncal value controlling unsymmetncal liquid pressure, manipulator’s latter arm swing joint and the forther arm over look joint and wristover look joint It can solve single joint static rigid degree using the transmitted function of the single joint servo-controlling-system. It can constuct matrix using differential conversion methords. It can solve manipulative flexible using single static rigid degree and matrix, so it gain static rigid degree of the bottom of manipulator. At last it analyze, the joint system of manipulator and tools, containing liquid pressure automatic joint wrist and the oil route system.更多还原