Research On The Cable Gripping Module And Master-slave Underwater Manipulator Module Of ROV

Ships and marine engineering equipment play an important role in the development of marine resources and the process of international economic integration.All kinds of ships put into use,and the supporting industries for ships also flourished.ROVs for ship maintenance tasks were also invented.In ship maintenance tasks,some processes that require the use of cables to wrap the hull need to be completed by the ROV,this requires the ROV to be equipped with a special cable gripping module to grab the cables from both sides of the hull and realize the connection and disconnection of the cables,so as to complete the cable winding process.At the same time,during the ship maintenance tasks,objects may fall into the water,which will cause damage to the ship and even the port.So,the same ROV is required to be equipped with a manipulator module to dive into the bottom of the sea and pick up the dropped objects.Therefore,the development of a cable gripping module that can be mounted on an ROV and a manipulator module for picking up objects is of great significance for improving the efficiency of ship maintenance tasks and ensuring the safety of ships and ports.Study the overall scheme of the cable gripping module that can be mounted on the ROV.By analyzing the specific functional requirements of the project,the functions are decomposed and assigned to each actuator;The mechanism scheme of the cable catching actuator,the locking actuator and the supplementary actuator of the locking actuator are designed;A scheme to avoid the cable entanglement problem caused by ROV during the mission is proposed;Cable end structure is optimized;The specific workflow of the ROV equipped with the cable grabbing module is designed.Design the structural scheme of the cable grabbing module that can be mounted on the ROV and develop the prototype.The structural scheme and the linkage rotation scheme of the cable catching actuator are designed;The locking actuator scheme that conforms to the subject environment,the matching locking actuator supplementary actuator structure scheme,and their respective driving schemes are designed.The frame structure of the cable gripping module is designed.Design the master-slave underwater manipulator module and develop the prototype.A 4-DOF slave hand and isomorphic master hand schemes are designed.The drive mode,joint structure,rotation angle detection and end effector of the master-slave manipulator are designed;The sealing structure of the key components of the slave hand is designed;The master-slave manipulator operation process and control scheme are designed.Solve the kinematics and dynamics equations of the manipulator system,simulate the model of slave-manipulator.By using the D-H method,the positive and inverse kinematics equations of slave-manipulator are solved;By using MATLAB software to model and simulate the manipulator model,the motion parameters of the slave hand joints are verified.By using the Lagrangian method,the slave-manipulator dynamics equations are solved.By using MATLAB software to model and simulate the manipulator,the torque parameters of slave hand joints are verified.The manipulator link model is built and the reachable space at the end of the manipulator is obtained.Carry out the experimental research on the cable gripping module and the master-slave underwater manipulator module.By performing the pool immersion experiment and the pressure tank pressing experiment the water-tight performance of each sealing components is verified.By carrying out land and pool experiments,the functional of each actuator and the overall module of the cable gripping module was verified,and the success rate of the cable wrapping task was calculated.By carrying out land and pool experiments,the following accuracy of the end-effector of the master-slave underwater manipulator is verified,and the gripping performance of the manipulator is tested.