【作者】 邱威； 唐国元；

【Author】 Qiu Wei;Tang Guoyuan;School of Naval Architecture and Ocean Engineering,Huazhong University of Science & Technology;

【机构】 华中科技大学船舶与海洋工程学院；

【摘要】 文章对水下对接系统原理进行了介绍,叙述了对接系统工作过程。对于初始捕捉过程,利用D.H法对机械手进行了运动学分析,得到了手爪夹持基点在基坐标系中的坐标表达式,利用MATLAB和蒙特卡洛法得到了二维和三维蒙特卡洛云点图,求出了机械手的工作空间,确定了对接目标物在初始捕捉时该运动到的位置。在进行精确对接时,对机械手和目标物构成的整体进行了运动学分析,联合使用图解法和数值法求出了能够完成精确对接的目标物的极限纵倾角。在系统初步设计的基础上,以目标物锁定基点和钩爪中心点工作空间为基础提出了增大纵倾角冗余度的方法,使极限纵倾角更小,更加容易完成精确对接。更多还原

【Abstract】 The paper introduced the principle of the underwater docking system and the process of the docking.For the initial docking process,using the D-H method the kinematic analysis of the manipulator was done and the coordinate expression of the gripper clamping point in the base coordinate system was gotten.The 2-D and 3-D Monte Carle cloud point map are drawn by the MATLAB and the Monte Carle method.The manipulator’s working space is established and the position that the docking target should move to in the initial docking process is known.For the accurate docking process,the paper analyzed the kinematics of the whole composed by the manipulator and the docking system.By combining the graphic method and numerical method,the ultimate longitudinal dip angle that the docking target can finish the accurate docking is obtained.Based on the preliminary design of the system and the working space of the target’s lock point and the hook center point,the method of increasing the redundancy of the longitudinal dip angle was proposed.The ultimate longitudinal dip angle can be smaller and the realization of the accurate docking can be easier.更多还原