The Design And Finite Element Computation Of The Ocean Mining Manipulator

With the increasing of the population,the mankind face the situation of the resource decreased day by day,and the decreace of the inland resource make people divert the target where to exploit the resource to the space and ocean.The ocean covers an area of 71% on the earth,and the exploiting potential is inestimable.So it is simply a cornucopia in which the sorts of mineral resources are marvelous. It contains a lot of polymetallic nodules and sulphides,which is important to the development of the mankind.In recent years,the scientists discovered such a mineral resources called "Hydrothennal sulfide" which is much worth to be exploited at the bottom of the ocean.It is a promising benthal mineral resource whose shape is lump or soft mud,and the quantity is quite tremendous. But it is urgent to manufacture a mining tool with good performance for the exploitation of it,and the manipulator researched in this context is such a trail tool used to exploit the mineral.This paper will focus on research of the virtual prototype of the trail manipulator based on the research of the ocean exploitation project"visual capturing net for Hydrothennal sulfide in deep sea" which is directed by professor Jinxing of Central-South Research Institute of Mining and Metallugy.The main contents are as follows:firstly gave the analysis of coordinate transformation of space vector in linkage kinematics mathematical theory,and deduced the dynamics equation-Lagrange dynamics equation;Secondly analyzed the structure designing method for manipulator, and modeled and assembled the parts of the manipulator in the SolidWorks soft;moreover,gave a simple analysis of the structure;Thirdly builded the finite element model by the finite element soft Workbench,and check the strength of manipulator by the mises yield strength theory in the extreme work situation of fixing the hands;At last,simulated the rigid-body static and motion of the manipulator by the COSMOSMotion soft,and analysis the kinematic quantities,besides,researched the gravity influence on the motion.