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Alternative TitleDevelopment and Error Analysis of a Deep-Ocean 5-Function Underwater Electric Manipulator
张奇峰; 范云龙; 张竺英
Source Publication机械设计与制造
Contribution Rank1
Funding Organization国家863计划资助项目(2012AA091101)
Keyword电动机械手 电动直线缸 腕转夹钳模块 D-h法
Other AbstractTo meet the demand of small and medium -sized deep -ocean operating Underwater Vehicle, a deep -ocean medium-load 5-function underwater electric manipulator is developed, the design avoids hydraulic manipulator’s large and complex supporting system and has larger load than the electric manipulator directly driven by joints. The first three-joints of the manipulator are driven by the same kind of electric linear cylinder module and all of the joints can realize a range of 120° swing. Inside the linear cylinder module, a linear potentiometer for position feedback is installed to enable the autonomous operating of underwater vehicle equipped with the manipulator system. The manipulator’s wrist-clamp module integrates wrist and clamp function. The D-H method is used to analyze the manipulator’s kinematics which lays the theoretical foundation for the research of autonomous operating. And the matrix differential method is used to analyze the manipulator end position error, and the error is less than 1.7mm.
Document Type期刊论文
Recommended Citation
GB/T 7714
张奇峰,范云龙,张竺英. 深海5功能水下电动机械手设计及误差分析[J]. 机械设计与制造,2015(4):140-143.
APA 张奇峰,范云龙,&张竺英.(2015).深海5功能水下电动机械手设计及误差分析.机械设计与制造(4),140-143.
MLA 张奇峰,et al."深海5功能水下电动机械手设计及误差分析".机械设计与制造 .4(2015):140-143.
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