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Underwater unmanned ship-double-mechanical-arm operation system-oriented dynamic coupling effect evaluation method

A dual manipulator, coupling effect technology, applied in underwater operation equipment, manipulators, program control manipulators, etc., can solve the problems of instability of the manipulator system, limited working space of small manipulators, and sharp increase in control difficulty. Achieve stable motion, improve system safety and maneuverability, and avoid coupling effects

Active Publication Date: 2021-10-01
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

However, the working space of the small manipulator is relatively limited, which indirectly reduces the working ability of the underwater working robot; if equipped with a large manipulator, the work space will be improved accordingly, but too large manipulator may cause the underwater unmanned vehicle- The robotic arm system is unstable, and the control difficulty increases sharply

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  • Underwater unmanned ship-double-mechanical-arm operation system-oriented dynamic coupling effect evaluation method
  • Underwater unmanned ship-double-mechanical-arm operation system-oriented dynamic coupling effect evaluation method
  • Underwater unmanned ship-double-mechanical-arm operation system-oriented dynamic coupling effect evaluation method

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Embodiment Construction

[0042] In order to better understand the present invention, the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0043] Such as figure 1 Shown is the schematic diagram of the underwater unmanned vehicle-dual robotic arm operation system. The specific parameters of the underwater dual robotic arm are shown in the table below.

[0044] Table 1 Dual robotic arm parameters

[0045]

[0046] Such as figure 2 As shown, the dual robotic arm can be divided into shoulder joint (shoulder part), upper arm joint (big arm part), forearm joint (small arm part), wrist joint (wrist part), claw joint (claw part) five parts.

[0047] The shoulder part includes: shoulder joint motor-115, base-135, backing plate-147, bearing cover-145, transmission shaft 1-146, motor cover-144, spacer; The submersible (loaded object) is connected, the other end is connected with the base-135, the bearing cover-...

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Abstract

The invention discloses an underwater unmanned ship-double-mechanical-arm operation system-oriented dynamic coupling effect evaluation method. One of the main factors influencing the coupling effect is a ship-double-mechanical-arm scale ratio, so that the invention provides a composite dynamic coupling factor evaluation standard, the coupling effect of the underwater unmanned ship-double-mechanical-arm system under different scale ratios is evaluated and quantified, the mapping relationship between the coupling effect of the system and the scale ratios is obtained, and scale ratio optimization is carried out on the basis of the mapping relation, then the underwater unmanned ship-double-mechanical-arm operation equipment is designed based on the optimized scale ratio, and the overlarge and uncontrollable dynamic coupling effect can be avoided while the operation space requirement of the underwater unmanned ship-double-mechanical-arm system can be met, so that a theoretical basis is provided for stable and accurate operation of an underwater unmanned ship-double-mechanical-arm system.

Description

technical field [0001] The invention belongs to the field of underwater robot control, and more specifically relates to a dynamic coupling effect evaluation method for an underwater unmanned vehicle-double manipulator operating system. Background technique [0002] The ocean is a treasure house of human resources, accounting for about 71% of the total surface area of ​​the earth, storing about 97% of the world's water, rich in oil and gas resources, mineral resources and biological resources, and also an important strategic space for competition among countries. Therefore, The development of marine operation equipment has gradually attracted the attention of various countries. With the increasing development of ocean development and autonomous operation technology, a variety of advanced underwater operation equipment has emerged. It is widely used in underwater operations such as deployment. The underwater unmanned vehicle-dual robotic arm system has many advantages in ter...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/00B25J9/12B63C11/52
CPCB25J9/1653B25J9/0087B25J9/126B63C11/52
Inventor 向先波熊昕飏王召杨少龙徐国华
Owner HUAZHONG UNIV OF SCI & TECH
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