Research And Simulation Analysis Of Compliance Switching Wrist For Underwater Manipulator

Underwater operating system is an important part of the deep-sea space station.Among them,the compliance switching wrist for underwater manipulator can expand the working range of the deep-water operation system and improve the working ability.In this paper,the research and simulation analysis of the compliance switching wrist for underwater manipulator are aimed at improving the core competence in the field of underwater operating system in China.This paper introduces the development of the underwater operation system,the compliance switching wrist and the compliance switching method.According to the design requirements of the compliance switching wrist,the overall plan is designed and the switch process is planned.The design scheme of the key components is determined through the lateral comparison,and the performance advantage of the compliance wrist is obtained.According to the mechanical design method,the structure of the compliance switching wrist is designed.The overall structure design of the compliant compensator has been completed.The working space is obtained by theoretical calculation.The relation curve of each parameters and the motion space is made by MATLAB,and the law of the change is obtained.According to the design theory,the working ability of the locking piston is checked under the maximum working load,and the service life of the lubricating ball shaft is calculated.Combined with the working environment,the structure of the hydraulic joint is designed and the docking process is expounded.According to the empirical formula,the hydraulic cylinder size is designed and checked.By analyzing the force situation of each stage during the locking process and self-locking condition,the locking module is designed.ANSYS Workbench is used to analyze the structural strength of the compliance switching wrist for underwater operating manipulator.Though the static analysis of the cage structure under the condition of the maximum force,the parameters like deformation and stress are obtained.Based on the theory of linear cumulative damage,parameters of life,damage,safety factor and so on are solved by the modified S-N curve method for the fatigue analysis of the cage structure with constant amplitude load and random loading respectively.The geometric nonlinear deformation of the elastic sleeve of the male joint is optimized by analyzing the elastic sheet model with different segmentation numbers.Modal analysis is performed on the compliance switching wrist to find out the resonance frequency and its deformation,and to find the weak links in the model structure.In this paper,the switching process of the compliance switching wrist for underwater manipulator is analyzed,which is used to study the replacement method and verified it by simulation analysis.According to the alignment process,the alignment strategy is designed,and the conditions of the ‘shaft hole' alignment are analyzed.Several typical positions and poses are simulated by ADAMS to verify tolerance ability of the compliance switching wrist.According to the docking stage,the stress situation in each stage of the process is analyzed.The conditions of jamming and the wedging are studied.ADAMS is used to simulate the docking models with or without compliant hinge points.The force magnitude and force fluctuation of hinge joints at different stages are compared to verify the compliant of compliance switching wrist.The switching process of compliance switching wrist is simulated to study the influence of different factors on the relay,which is used to verify compliant capability of compliance switching wrist.