Research On A Deep Sea Exploration Hybrid Robot

Building a marine power is China's national strategy.With the current exploitation and utilization of marine resources,people have paid more attention to deep-sea exploration.Facing the major needs of national deep-sea exploration,this paper uses the characteristics of the middle passive branch structure of the parallel mechanism with few degrees of freedom,and combines manipulators and parallel mechanisms in the field of marine resource exploration,and proposes a deep-sea exploration hybrid robot.The main mechanical structure of the deep-sea exploration hybrid robot is analyzed.The deep-sea exploration hybrid robot is divided into several parts,including a gripper mechanism,a parallel mechanism and a driving mechanism.A three-dimensional model of a deep-sea exploration hybrid robot was established using CAD software,and the structural characteristics and working principles of the deep-sea exploration hybrid robot were analyzed.The degrees of freedom and kinematics of the parallel mechanism of the hybrid robot are calculated,the wireframe diagram of the hand-claw parallel mechanism is established by using the CAD variable geometry method,and the workspace of the parallel mechanism and hand-claw mechanism in the deep-sea exploration hybrid robot is constructed by the VB program.The kinematics model of the parallel mechanism of the deep-sea exploration hybrid robot was analyzed.The kinematic model of the parallel mechanism of the deep-sea exploration hybrid robot was established,and the Jacobian matrix of the parallel mechanism and the gripper mechanism driven to the end of the gripper mechanism was obtained.And Hessian matrix and verified the correctness.The kinematics models of the centroids of all the components of the parallel mechanism and the gripper mechanism in the deep-sea exploration hybrid robot are established,and the corresponding position vectors,velocities,and accelerations of the centroids of each component are solved.Based on the virtual work principle,the static and dynamic models of the parallel manipulators of deep-sea exploration hybrid robots were established.The simulation model was used to verify the correctness of the mechanical model of the parallel manipulators.Combined with the related theoretical research on propellers,the factors affecting propeller performance are analyzed,the appropriate propeller mechanism is selected,and the finite element simulation analysis of the propeller drive mechanism selected in this paper is performed.