Position Control And Simulation Of Underwater Operating Manipulator

The twenty-first century is the century of developing and utilizing oceans.According to statistics,oceans account for about 71% of the earth’s surface area.They store huge resources for human survival in the oceans.The development and utilization of ocean resources has become a powerful guarantee for a country’s sustainable development.With the vigorous development of offshore aquaculture,the problems faced by offshore fishing are becoming increasingly prominent.There are mainly scallops,sea cucumbers and abalones in offshore aquaculture.The traditional offshore fishing methods are mainly manual submergence,supplemented by trawling and positioning nets.Trawl not only has a large weight,but also has a great friction with the seabed,so it consumes a lot of energy.At the same time,the complete contact between net and the seabed causes "crushing and sweeping" damage to the ecological environment of the seabed,which brings huge economic losses to the production enterprises.Therefore,the fishing industry urgently needs high efficiency and high automation fishing technology and equipment.In recent years,with the development of computer technology and the requirement of underwater working environment,underwater vehicles have emerged as the times require,and a large number of underwater vehicles with good performance have emerged.They are mainly used for seabed investigation,data collection,drilling support,seabed construction,underwater equipment maintenance and maintenance.Considering the seabed environment and the characteristics of the harvesting operation,a kind of robot device which can complete the harvesting and collecting of sea treasures in the offshore area is designed and manufactured in this paper.It mainly consists of a walking mechanism,a double manipulator and a control system.Firstly,the most important task of this subject is to choose a reasonable walking mode of the robot.Mud and sediment are mostly covered on the seabed.In order to improve the stability of the robot and its obstacle surmounting function,the tracked walking mechanism is selected.Secondly,according to the characteristics of collecting sea treasures,a double manipulator mechanism is designed,in which the main manipulator is used for collecting and the auxiliary manipulator is used for collecting.Finally,after completing the design of the overall structure of the robot,according to the requirements of capturing and collecting treasures,the control scheme is designed and the corresponding control program is written.After completing all the design work of the robot,according to the design requirements,the INVENTOR software is used to carry out parametric modeling and motion simulation experiments to verify whether the design of the robot can meet the operational requirements.Through 3D printing technology,all parts and components are made and assembled into physical objects,and the operation experiments are carried out on water.The experimental results show that the caterpillar walking mechanism is stable and reliable,and the double manipulator mechanism can complete the collection and collection of marine treasures in accordance with the predetermined function settings.