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Alternative TitleDynamic Modeling and Simulation Analysis of Underwater Manipulator with Large Arms
刘涛1,2,3,4; 张奇峰1,2,3; 张运修1,2,3,4; 孙英哲1,2,3,4; 范云龙1,2,3
Source Publication液压与气动
Contribution Rank1
Funding Organization国家重点研发计划(2016YFC0300401,2017YFC0306402) ; 中国科学院战略性先导科技专项(XDA22040102)
Keyword水下机械手 大臂展 水动力 动力学 运动学


Other Abstract

Aiming at the requirement of large - scale accurate observation and operation of underwater environment, dynamic modeling and joint driving moment of underwater manipulator with large arms are carried out. Firstly, based on the D - H theory, the forward and inverse kinematics of underwater manipulator with large arms is analyzed. Meanwhile the velocity and acceleration of each link rod are solved. Then, the dynamic model of the underwater manipulator with large arms is constructed. Among them, the hydrodynamic terms in the dynamic model are perfected using Morrison formula and D - H theory. And the Lagrange method is used to solve the net buoyancy, inertia force, centrifugal force, Coriolis force and terminal load term of the whole manipulator. In this way, the functional relationship between the driving torque and joint angle, ambient water flow velocity and terminal load of each joint is obtained. Finally, according to the specific operation scene, considering the velocity of environmental flow and target load, the driving torque for each joint of the manipulator are obtained, which provides theoretical support for the design of the underwater manipulator with large arms.

Document Type期刊论文
Corresponding Author刘涛
Recommended Citation
GB/T 7714
刘涛,张奇峰,张运修,等. 水下大臂展机械手动力学建模与仿真分析[J]. 液压与气动,2021,45(5):25-32.
APA 刘涛,张奇峰,张运修,孙英哲,&范云龙.(2021).水下大臂展机械手动力学建模与仿真分析.液压与气动,45(5),25-32.
MLA 刘涛,et al."水下大臂展机械手动力学建模与仿真分析".液压与气动 45.5(2021):25-32.
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