| 面向作业任务的AUV用自主式机械手结构设计 |
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| 引用本文： | 茅及愚,徐国华,李维嘉. 面向作业任务的AUV用自主式机械手结构设计[J]. 华中科技大学学报(自然科学版), 2000, 28(7): 59-61 |
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| 作者姓名： | 茅及愚 徐国华 李维嘉 |
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| 作者单位： | 茅及愚（华中理工大学交通科学与工程学院）;徐国华（华中理工大学交通科学与工程学院）;李维嘉（华中理工大学交通科学与工程学院）;王承禧（华中理工大学交通科学与工程学院） |
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| 基金项目： | 国防科工委"九五”跨行业重点预研项目(16.10.2). |
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| 摘 要： | 论述了研制的自主作业水下机械手的总体、结构设计特点和主要性能技术指标.机械手装备于自主式潜水器(AUV)上,具有五个自由度,直流力矩电机驱动,最大作业水深为100m.机械手具有结构轻巧、运动传递精确、手爪可更换和被动柔顺功能等特点.可在计算机控制下面向对象自主作业.讨论了机械手的运动学计算、计算机仿真和调试试验情况.
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| 关 键 词： | 自主式潜水器 自主作业 水下机械手 计算机仿真 |
| 文章编号： | 1000-8616(2000)07-0059-03 |
| 修稿时间： | 2000-02-21 |
The Structure Design of Autonomous Underwater Manipulator Used by AUV with Operative Task Orientation |
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| Mao Jiyu Xu Guohua Li Weijia Wang Chengxi. The Structure Design of Autonomous Underwater Manipulator Used by AUV with Operative Task Orientation[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 2000, 28(7): 59-61 |
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| Authors: | Mao Jiyu Xu Guohua Li Weijia Wang Chengxi |
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| Affiliation: | Mao Jiyu Xu Guohua Li Weijia Wang Chengxi |
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| Abstract: | The overall design, structure design features and mainly functional and technological indexes of designed Autonomous Underwater Manipulator are discussed. Installed on Autonomous Underwater Vehicle (AUV) and driven by DC torque motor, the manipulator has five degrees of freedom. The deepest operation can be conducted 100 meters below the water. The manipulator has the features such as light and handy structure, precise motion transmission, changeable claw and the function fo passive compliance. And it can operate autonomously with targets orientation under the control of the computer. Its kinematics computation, computer simulation, debugs and experiments are also introduced. |
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| Keywords: | AUV autonomous operation underwater manipulator computer simulation |
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