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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
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310009
E-mail:
meem_contribute@163.com
Abstract: In order to solve the problems of small working range and limited underwater working ability of the robot arm mounted on the remote operated vehicle (ROV), the design of the six-degree-of-freedom (6-DOF) underwater robot arm was studied. A six-degree-of-freedom underwater manipulator with translational opening and closing function was designed, which realizes the position control of the joint driver (hydraulic cylinder or swing cylinder) of the slave hand by the master hand. Firstly, based on the multi-objective optimization rules, the clamping claw was calculated, and the 120 mm translation opening range of the claw could be achieved when the shortest stroke of the hydraulic cylinder was 20 mm. Then, the D-H mathematical model of the movable joint of the 6-DOF robot arm was established to solve the forward and reverse kinematics of the robot arm. Finally, the designed robot arm was checked by Solid works software, and the motion track of six active joints was simulated and analyzed by MATLAB software, and the workspace range of the robot arm was solved by Monte Carlo method. The prototype test and underwater experiment was carried out. The research results show that the position and attitude of the simulation model of the mechanical arm are the same as that of the three-dimensional model, the speed and acceleration curves of the six active joints of the mechanical arm are smooth, without catastrophe point, and there is no overshoot phenomenon. The clamping claw of the 6-DOF underwater robot arm can perform 120 mm opening and closing motion according to the predetermined command, the slave arm on the ROV can follow the movement of the main arm, and the acceleration and deceleration performance is good. The range of rotation angles of each joint meets the design requirements, which lays a foundation for the next structural optimization of the robot arm.
Key words: remote operated vehicle(ROV); underwater manipulator; position control; clamping claw; movable joint; MATLAB simulation
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