| With the development of marine resources,Countries in the world pay more and more attention to underwater robot technology.Underwater manipulator is an important tool for underwater robot,Underwater robot with manipulators can finish the work that the diver can't finish.The heavy ROV in this paper is an underwater robot with a depth of 3000 meters,therefore,it is of great significance to design and research manipulator of heavy ROV.First,this paper analyzes the development of underwater manipulator at home and abroad.According to the working environment and operation requirements of heavy ROV,the design plan of a double manipulator is proposed,the degree of freedom assignment,technical parameters,material selection and driving mode of the double manipulator are determined.The mechanical structure of double manipulators is designed,then the design of hydraulic control system for manipulators is completed.Then the 3D model of double manipulators are built by Solid Works?Secondly,the kinematics model of UVMS(underwater robot-manipulator system)is established,and the UVMS positive and inverse kinematics equations are obtained,and the dynamic model of UVMS is established by using the Quasi-Lagrange equation?Then,on the basis of the UVMS dynamic model,the Cam Curve Theory is adopted and the Adams software is used to analyze the influence of the manipulator to perform the same action ROV position and posture in the same motion according to the different motion curves.Finally,the Adams software is used to simulate the application of UVMS in the installation of underwater oil production system,which solves the problem of manipulator error compensation.At the same time,the 5 function manipulator holds the oil tree,and the 7function manipulator carries out two movements of lifting and twisting respectively.It analyses the force and torque of each component of the 5 function manipulator,which provides the theoretical basis for the mechanical analysis of the manipulator?... |
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