Three degree of freedom parallel type vector propelling device and underwater robot having same

Abstract

The invention discloses a three degree of freedom parallel type vector propelling device and an underwater robot having same, and belongs to the underwater vehicle technical field; the three degree of freedom parallel type vector propelling device comprises a static platform and a movable platform; three motion branch chains are formed between the static and movable platforms, and comprise a RR motion branch chain with a 90-degree arc connecting rod, and a RRR motion branch chain with a 90-degree and 45-degree arc connection rod, and the two motion branch chains and the movable and static platforms commonly form a sphere two-degree of freedom parallel mechanism; a RUC middle motion transmission branch chain is also arranged between the movable and static platforms, and used for transmitting torque and motions of a main propelling motor to a propeller. The propeller deflection and the middle motion transmission branch chain motion are combined, so various propelling gestures of the propeller can be realized, and the propeller motion transmission can be realized. The three degree of freedom parallel type vector propelling device is convenient in mounting, the branch chains are simple in layout, convenient in control, and the low speed steering performance is good.

Description

technical field [0001] The invention relates to the field of underwater vehicles, in particular to a three-degree-of-freedom parallel vector propulsion device and an underwater robot equipped with the device. Background technique [0002] The ocean accounts for about 71% of the earth's surface area, and is rich in mineral resources and marine biological resources. The development of mobile and flexible underwater robots has important practical significance for promoting the development of marine resource detection technology. The propeller propeller is the key device to ensure the maneuverable and flexible operation of the underwater robot. A single propeller propeller can only produce a propulsion force with a variable size and a fixed direction (along the direction of the rotation axis). When the robot needs to conduct maneuvering movements in different directions, Such as pitching and deflection, it is necessary to install multiple propeller propellers to generate multi-d...

AI Technical Summary

Problems solved by technology

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 are complicated. It is also difficult to apply to engineering practice

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