SIA OpenIR  > 水下机器人研究室
水下大臂展机械手动力学建模与仿真分析
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
Department水下机器人研究室
Source Publication液压与气动
ISSN1000-4858
2021
Volume45Issue:5Pages:25-32
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
Abstract

面向水下环境大范围精细作业需求,对水下大臂展机械手系统进行动力学建模和关节驱动力矩求解分析。首先,基于D-H理论对水下大臂展机械手进行正、逆运动学分析,求解各连杆速度与加速度;然后,构建水下大臂展机械手的动力学模型,使用莫里森公式和D-H理论完善动力学模型中的水动力项,采用拉格朗日法求解整机的净浮力、惯性力、离心力、科氏力与末端负载力项,得出各关节所需驱动力矩和关节角、环境水流速度以及末端负载之间的函数关系;最后,针对具体作业场景,得出环境水流速度、目标负载转运下机械手各关节所需驱动力矩,为水下大臂展机械手设计提供理论支撑。

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.

Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/28781
Collection水下机器人研究室
Corresponding Author刘涛
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院机器人与智能制造创新研究院
3.辽宁省水下机器人重点实验室
4.中国科学院大学
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.
Files in This Item:
File Name/Size DocType Version Access License
水下大臂展机械手动力学建模与仿真分析.p(1850KB)期刊论文出版稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[刘涛]'s Articles
[张奇峰]'s Articles
[张运修]'s Articles
Baidu academic
Similar articles in Baidu academic
[刘涛]'s Articles
[张奇峰]'s Articles
[张运修]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[刘涛]'s Articles
[张奇峰]'s Articles
[张运修]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 水下大臂展机械手动力学建模与仿真分析.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.