A Vector Propulsion Mechanism for Underwater Robot

Abstract

The invention discloses a vector propulsion mechanism of an underwater robot. The vector propulsion mechanism is a novel spherical parallel connection mechanism and comprises a static platform and a movable platform. Four groups of kinematical branch chains are formed between the movable platform and the static platform, two groups of kinematical branch chains include a group of branch chains RP<C> and a group of branch chains RP<C>RU and are driving branch chains, each group of driving branch chains comprises a curved movement pair PC which is of an arc-shaped groove sliding structure, the other two groups of kinematical branch chains comprise branch chains RP<C> and branch chains RP<C>RU, are structurally identical to the former two groups of kinematical branch chains but are driven branch chains, the four groups of kinematical branch chains are symmetrically installed, and the four groups of kinematical branch chains, the movable platform and the static platform jointly form the spherical parallel connection mechanism with two degrees of freedom. A group of intermediate kinematical transfer branch chains RUC is additionally arranged between the static platform and the movable platform and is used for transferring torque and movement of a main propulsion motor to a propeller. The vector propulsion mechanism has the advantages of convenience in installation and control, good low-speed steering performance and the like.

Description

technical field [0001] The invention relates to the technical field of underwater vehicles, in particular to a parallel vector propulsion mechanism applied to underwater robots. Background technique [0002] At present, most underwater robots use propeller propellers as propulsion devices. A single propeller propeller can only produce a propulsion force with a variable magnitude and a fixed direction. Multiple propellers are used to generate multi-dimensional propulsion. Different from general thrusters, in addition to providing forward propulsion, vector thrusters can also generate propulsion in other multi-dimensional directions according to the requirements of robot guidance and manipulation tasks, which can greatly improve the steering ability and positioning ability of underwater robots during low-speed navigation . At present, the vector propulsion mechanism is limited to the traditional serial mechanism or the Stewart six-degree-of-freedom parallel mechanism. Howev...

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Problems solved by technology

However, the traditional series mechanism has a large self-weight-to-load ratio, which makes it difficult to adapt to the deep-sea heavy-pressure environment. Although the six-degree-of-freedom parallel mechanism can meet the requirements of guiding and manipulating actions in terms of flexibility and self-weight-to-load ratio, its working space is small, and its structure and control It is more complex and difficult to apply to engineering practice

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