An underwater multifunctional collaborative dual manipulator based on a dual rrrr configuration

Abstract

The invention discloses an underwater multifunctional cooperative double mechanical arm based on a double RRRR configuration, and belongs to the field of robot underwater working. Each mechanical armincludes a shoulder joint, an arm joint, a forearm joint, a wrist joint and a tail end claw, thereby forming an underwater working mechanism with the double RRRR configuration. According to differentworking environment, different capture modes can be used to capture and recover underwater dynamic and static targets. The cooperative double mechanical arm is more flexible than a single-arm due to double-arm coordination, and the capacity of cooperative grasping of the dynamic and static targets is higher; the tail end claw is driven by a screw rod and a push rod to achieve the accurate controlof claw opening degree, and meanwhile, the longitudinal motion stroke of the claw is reduced, so that the configuration is more compact; the dual operation functions of direct grasping and embracing grasping can be achieved, so that the difficult problem of grasping and recovering the underwater dynamic targets is solved; and moreover, the multiple acquisition modes of the double arm expand a reachable working area, so that capacity and the efficiency of the underwater working is improved.

Description

technical field [0001] The invention belongs to the field of underwater operation of robots, and more specifically relates to an underwater multi-functional cooperative double mechanical arm based on a double RRRR configuration. Background technique [0002] Unmanned underwater vehicle is a kind of unmanned vehicle that can perform specific tasks underwater. It is an indispensable tool for human beings to develop marine resources. It has broad application prospects and important research value. In the vast majority of cases, unmanned underwater vehicles need to be reused, which means that they must be able to be recovered after completing their mission. Therefore, how to realize fast, safe and reliable recovery of UUV has become a research focus of UUV technology. [0003] Generally speaking, the recovery methods of unmanned underwater vehicles can be divided into surface recovery and underwater recovery. Compared with the surface recovery method, the underwater recovery m...

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Problems solved by technology

[0005] Aiming at the above defects or improvement needs of the prior art, the present invention provides an underwater multi-function cooperative double manipulator based on a double RRRR (joint spherical robot) configuration. The structural design of each part has the dual operation functions of direct grasping and embracing grasping of the claws, which can solve the problems of difficult underwater static and dynamic target recovery process, poor flexibility, and low recovery efficiency.

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