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A Dynamic Coupling Effect Evaluation Method for Underwater Unmanned Vehicle-Dual Manipulator Operating System

A technology with dual manipulators and coupling effects, which is applied to underwater operation equipment, manipulators, program-controlled manipulators, etc., can solve the problems of small manipulators with limited working space, sharp increase in control difficulty, and instability of the manipulator system. Achieve the effects of improving system safety and maneuverability, avoiding coupling effects, and stabilizing motion

Active Publication Date: 2022-04-29
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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  • A Dynamic Coupling Effect Evaluation Method for Underwater Unmanned Vehicle-Dual Manipulator Operating System
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  • A Dynamic Coupling Effect Evaluation Method for Underwater Unmanned Vehicle-Dual Manipulator Operating System

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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 a dynamic coupling effect evaluation method for an underwater unmanned boat-dual robot arm operation system. One of the main factors affecting the coupling effect is the scale ratio of the boat-dual manipulator. Therefore, the present invention proposes a composite dynamic coupling factor evaluation standard to evaluate and quantify the coupling of the underwater unmanned boat-dual manipulator system under different scale ratios. effect, obtain the mapping relationship between the coupling effect of the system and the scale ratio, and optimize the scale ratio based on the mapping relationship, and then design the underwater unmanned vehicle-dual robotic arm operation equipment based on the optimized scale ratio, which can meet the requirements of underwater Underwater unmanned vehicle-dual manipulator system requires space while avoiding excessive and uncontrollable dynamic coupling effects, providing a theoretical basis for underwater unmanned vehicle-dual manipulator system stable and precise operation.

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 Patents(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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