Three-degree-of-freedom parallel vector propulsion device and underwater robot with the device

Abstract

The invention discloses a three-degree-of-freedom parallel vector propulsion device and an underwater robot with the device, belonging to the technical field of underwater vehicles. The three-degree-of-freedom parallel vector propulsion device includes a static platform and a dynamic platform. There are three groups of kinematic branch chains between the static platforms, one group is the RR kinematic branch chain with 90° arc connecting rods, and the other is RRR kinematic branch chains with 90° and 45° arc connecting rods. The branch chain and the dynamic and static platforms together constitute a spherical two-degree-of-freedom parallel mechanism; there is a set of RUC intermediate motion transmission branch chains between the dynamic and static platforms, which are used to transmit the torque and motion of the main propulsion motor to the propeller. The present invention not only realizes the change of various propulsion attitudes of the propeller, but also completes the transmission of the propeller motion through the motion synthesis of the propeller deflection and the middle motion transmission branch chain. The invention has the advantages of convenient installation, simple layout of branch chain positions, convenient control, good low-speed steering performance and the like.

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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