Modeling And Simulation Of The Manned Submersible's Underwater Manipulator

With the development of marine resources and the demand of scientific research are increasing,the deep submersible vehicle,which only has the function of observation and detection,can no longer meet the requirements of human beings.Therefore,the underwater manipulator that can achieve efficient has been widely used.Due to the unpredictability of underwater environment and the danger of submersible operation,underwater operation by operators becomes a complex and extremely high intensity process.This requires a lot of comprehensive training to ensure the efficiency and safety of the operators' training.In recent years,with the rapid development of virtual reality technology,virtual reality system has received extensive attention in training system because of its advantages of friendly interaction,strong immersion and convenient use.Simulated training in an underwater manipulation simulation system built by a computer,the operator can avoid the risk brought by the deep-sea environment,improve the training efficiency and promote the development of deep submarine technology.This paper takes China's first independently developed manned deep submersible,the"Jiaolong" as the research object.The main purpose of this paper is to model and simulate the underwater manipulator carried by "Jiaolong",and propose a simple bounding box algorithm.Finally,a simulation platform of underwater operation is built based on virtual reality technology.In order to make the 3D simulation system not only have the appearance authenticity,but also realistically simulate the movement process of the manipulator.Firstly,the kinematics model of "Jiaolong" manipulator is established by kinematics analysis,the forward and inverse kinematics solutions are obtained,and the correctness of the algorithm is verified by VC programming;Secondly,on the basis of deriving kinematics algorithm,using coordinate transformation and plane projection,a simplified bounding box technology for real-time and accurate collision detection of manipulator collision events is proposed.And the simulation platform is built by calling OpenGL graphics library based on the MFC dialog box in the Visual Studio development platform to verify the correctness of the collision detection algorithm.Finally,saving the 3D model of "Jiaolong" as.FBX format file into the Unity3D engine,build underwater scenes and design friendly human-computer interaction interface,the simulation of the manipulator motion and the operation process is realized based on the kinematics algorithm and the collision detection model.After the basic interaction process is realized,an immersive vision system is developed based on the head mounted display.Finally,the development of 3D simulation platform for underwater manipulation of "Jiaolong" has realized.