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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
Add:
No.9 Gaoguannong,Daxue Road,Hangzhou,China
P.C:
310009
E-mail:
meem_contribute@163.com
Abstract: The traditional underwater manipulator has large volume, complex structure and limited space, and its performance in underwater environment is poor.In order to complete underwater operations under the conditions of narrow space, dangerous environment and complex tasks,a cabledriven snake-like manipulator(CDSLM)was designed for complicated underwater scenarios. Firstly,driven by a gear-rack structure, a servomotor was used to control two transmission cables simultaneously, and thus the number of the motors and energy consumption of cable-driven snake-like manipulator were reduced. Apart from it, the multi-level mapping between the motors, cables, joints and the end-effector was analyzed, and the corresponding kinematics equations were deduced and solved. Finally, according to the multi-level mapping relationship between cable-driven snake-like manipulators, a control strategy based on fuzzy controller was designed to reduce the tracking error caused by the transmission system and realize the precise control of the pose of the snake-like manipulator,which solves the problem that it was difficult to obtain an accurate dynamic model of the cable-driven snake-like manipulator. The MATLAB was used to analyze the tracking performance of cable-driven snake-like manipulator. The results show that the yaw angle maximum tracking error of cable-driven snake-like manipulator does not exceed 0.05 mm, the pitch angle maximum tracking error is less than 0.09 mm, which verifies the effectiveness of the kinematics control strategy based on fuzzy controller.
Key words: deepwater operation; cable-driven; snake-like manipulator; fuzzy controller; kinematic control;multi-level mapping
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