| 新型水下自重构机器人水下机电对接技术 |
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| 引用本文： | 吴超,庄广胶,刘建民,葛彤,吴小辉. 新型水下自重构机器人水下机电对接技术[J]. 上海交通大学学报, 2013, 47(10): 1621-1625 |
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| 作者姓名： | 吴超 庄广胶 刘建民 葛彤 吴小辉 |
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| 作者单位： | (上海交通大学 海洋工程国家重点实验室， 上海 200240) |
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| 基金项目： | 国家高技术研究发展计划(863)项目(2007AA09Z215)，海洋工程国家重点实验室基金项目(GKZD010056 14)资助 |
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| 摘 要： | 研究了一种应用于水下自重构机器人的新型水下湿式机电对接技术.采用多卡爪机械锁紧机构和充油密封方式，实现了水下可靠的机械与电气连接；利用机器人逆运动学方法实现关节的协调控制，进行对接过程末端模块的轨迹规划；利用对光电引导传感器组信号的优化来辅助水下对接；成功研制了该水下连接装置和基于该装置的水下自重构机器人样机.通过在样机上的实际应用，验证了该技术的有效性.
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| 关 键 词： | 水下自重构机器人 水下对接 光电引导 机器人逆运动学 |
| 收稿时间： | 2012-11-01 |
A Novel Underwater Electromechanical Docking Technology for Underwater Self-reconfigurable Robot |
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| WU Chao,ZHUANG Guang jiao,LIU Jian min,GE Tong,WU Xiao hui. A Novel Underwater Electromechanical Docking Technology for Underwater Self-reconfigurable Robot[J]. Journal of Shanghai Jiaotong University, 2013, 47(10): 1621-1625 |
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| Authors: | WU Chao ZHUANG Guang jiao LIU Jian min GE Tong WU Xiao hui |
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| Affiliation: | (State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University， Shanghai 200240, China) |
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| Abstract: | This paper presented a novel underwater electromechanical docking technology used on the underwater self-reconfigurable robot. The multi-jaw mechanical device and oil seal method were applied, which realized reliable mechanical and electrical connection. The robotic inverse kinematics was studied in joint coordinated control, which was used for tracking the end module while docking. The signal optimization algorithm for photoelectric sensors was applied to assist underwater docking. The underwater docking device and prototype of underwater self reconfigurable robot based on the device were developed. The application on USR verified the validity of the technology. |
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| Keywords: | underwater self-reconfigurable robot underwater docking photoelectric guidance robotic inverse kinematics |
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