中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 水下机器人研究室  > 期刊论文
题名: 水下七功能电动机械手设计研究
其他题名: Structure Design of 7F Underwater Electric Manipulator and Feasibility Analysis
作者: 岳鹏 ; 张奇峰 ; 安晓卫 ; 曲风杰
作者部门: 水下机器人研究室
关键词: 结构设计 ; 作业空间 ; 七功能水下电动机械手 ; 静力学分析 ; 动力学仿真 ; Structure Design ; Operation Space ; 7 Function Underwater Electric Manipulator ; Statics Analysis ; Dynamics Simulation
刊名: 机械设计与制造
ISSN号: 1001-3997
出版日期: 2014
期号: 4, 页码:114-117
产权排序: 1
摘要: 以适用于水下自主作业的电动机械手为研究对象,通过设计一个具有六自由度和夹钳剪切功能机构,组建了一个水下自主作业七功能电动机械手.机械手主要包括三个基本运动模块和一个夹钳剪切模块,具有质轻,作业范围大,回收状态良好等特点;机械手实现了内部走线,深海密封作业,关节绝对位置的检测和高精度控制.介绍了水下七功能电动机械手的整体结构,典型运动模块结构和工作原理,并对机械手进行运动学分析及作业空间分析,对其关键关节进行静力学分析,动力学仿真和有限元分析,验证机械手结构设计的可行性.
英文摘要: Taking the electric manipulator as the research object which can operate autonomously underwater,through designing a mechanism with six degrees of freedom and a function of clippering and cutting,it forms a 7 function electric manipulator working autonomously underwater. The manipulator mainly includes two basic movement module and a clippering and cutting module,and possesses advantages of lightweight,large operating range and good recovery state; also,it achieves goals of cable going inside,deep-water-sealing operation,detection of the joint's absolute position and high precision control. It introduces the overall structure of underwater 7 function electric manipulator,the structure of its main movement module and working principle,and conducts analysis on the manipulator’s kinematics and operating space,and carries out statics analysis,dynamic simulation and finite-element analysis on the main joint to prove the feasibility of the manipulator structure design.
语种: 中文
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/14737
Appears in Collections:水下机器人研究室_期刊论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
水下七功能电动机械手设计研究.pdf(530KB)----开放获取View Download

Recommended Citation:
岳鹏;张奇峰;安晓卫;曲风杰.水下七功能电动机械手设计研究,机械设计与制造,2014,(4):114-117
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[岳鹏]'s Articles
[张奇峰]'s Articles
[安晓卫]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[岳鹏]‘s Articles
[张奇峰]‘s Articles
[安晓卫]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: 水下七功能电动机械手设计研究.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace