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水下七功能电动机械手设计研究
Alternative TitleStructure Design of 7F Underwater Electric Manipulator and Feasibility Analysis
岳鹏; 张奇峰; 安晓卫; 曲风杰
Department水下机器人研究室
Source Publication机械设计与制造
ISSN1001-3997
2014
Issue4Pages:114-117
Contribution Rank1
Funding Organization国家863项目(2012AA091101)
Keyword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
Abstract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.
Other AbstractTaking 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.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/14737
Collection水下机器人研究室
Affiliation1.沈阳理工大学
2.机器人学国家重点实验室中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
岳鹏,张奇峰,安晓卫,等. 水下七功能电动机械手设计研究[J]. 机械设计与制造,2014(4):114-117.
APA 岳鹏,张奇峰,安晓卫,&曲风杰.(2014).水下七功能电动机械手设计研究.机械设计与制造(4),114-117.
MLA 岳鹏,et al."水下七功能电动机械手设计研究".机械设计与制造 .4(2014):114-117.
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