【作者】 朱秋晨； 唐国元；

【Author】 ZHU Qiuchen;TANG Guoyuan;School of Ship and Ocean Engineering, Huazhong University of Science and Technology;

【机构】 船舶与海洋工程学院华中科技大学船舶与海洋工程学院；

【摘要】 随着海洋资源开发利用需求的不断提升与水下工程技术的逐步发展,水下航行器技术作为海洋装备制造的一个重点技术被大量地运用于深海资源勘探、水下救援、船底探伤、海洋测绘以及军事等诸多领域之中。在对比研究了国内外的水下对接装备之后,提出了采用机械臂捕捉航行器的搭载装置设计,并通过正逆运动学分析和蒙特卡洛随机法的运用,仿真计算搭载装置的工作空间,并确定航行器捕捉位置和关节变量之间的关系,为搭载装置样机的运动实现和性能评估建立了基础。更多还原

【Abstract】 with the increasing demands of exploitation to marine resource and the progressively development of underwater engineering,underwater vehicles,as one of the most important technology of marine equipment manufacturing,have been widely applied to various range of fields such as deep-sea exploration,underwater rescue,ship inspection,hydrographic surveying and military affairs. After the reviewing of underwater docking devices made by domestic and foreign researchers,the carrying device operated by mechanical arm is designed.the work space of the carrying device was calculated by the application of Monte Carlo method and the analysis of forward and inverse kinematics and the relationship between the capture location of underwater vehicles and parameters of manipulator joints.Through this paper,a practical foundation for the motion actualization and performance evaluation of the prototype of underwater vehicle carrying device is built.更多还原