[1]赵彦飞,田军委,裴 蕾,等.水下机械臂设计[J].机械与电子,2017,(06):77-80.
　ZHAO Yanfei,TIAN Junwei,PEI Lei,et al.Design of Underwater Manipulator[J].Machinery & Electronics,2017,(06):77-80.
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水下机械臂设计
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年06期
页码:
77-80
栏目:
智能工程
出版日期:
2017-06-24

文章信息/Info

Title:
Design of Underwater Manipulator
文章编号:
1001-2257(2017)06-0077-04
作者:
赵彦飞1; 田军委1; 裴 蕾1; 牛秀娟2
(1.西安工业大学机电工程学院,陕西 西安 710021; 2.西安工业大学电子信息工程学院,陕西 西安 710021)
Author(s):
ZHAO Yanfei1; TIAN Junwei1; PEI Lei1; NIU Xiujuan2
(1.School of Mechatronic Engineering, Xi'an Technological University, Xi'an 710021, China; 2.School of Electronic and Information Engineering, Xi'an Technological University, Xi'an 710021, China)
关键词:
水下机械臂;  SolidWorks建模;  有限元分析;  防水与密封
Keywords:
underwater manipulator;  SolidWorks modeling;  finite element analysis;  waterproof and sealing
分类号:
TH12
文献标志码:
A
摘要:
为了代替人类在水下进行作业,设计了一种具有三自由度的可以在水下200 m工作的机械臂。该机械臂采用硬铝合金作为本体制作材料,壳体设计为圆筒型,充分利用了内部空间又减小运动阻力,同时提高了整体结构的耐高压性。对肩部、肘关节和手爪进行静力分析及计算,并对其驱动模块进行选型; 利用SolidWorks创建三维实体模型,并对手爪进行有限元仿真分析; 机械臂的密封方式分为两种:静密封采用O型圈密封,动密封采用磁密封。仿真结果表明,设计满足指标要求,结构可靠。
Abstract:
In order to replace the operations of human being underwater, a manipulator with three degrees of freedom was designed to work 200 m underwater. The manipulator was made of aluminum alloy, and the shell was designed as a cylinder so as to make full use of the internal space, reduce the movement resistance, and improve the high-pressure resistance of overall structure. Static analysis and calculation were then carried out on the shoulder, elbow and hand, and the driving module was selected. In addition, SolidWorks was used to create a 3D solid model, and the finite element simulation of the claw was analyzed. There are two types of manipulator seal: static seal with O-ring seal, and dynamic seal with magnetic seal. The simulation results show that the design meets the requirements and the structure is reliable.

参考文献/References:

[1] 孟庆鑫,张铭钧,张今瑜,等.水下机器人作业机械手的研究与发展[J].应用科技,1996,4.
[2] 刘正士, 朱光胜, 王勇,等. 基于水下典型操作任务的机械手爪结构设计[J]. 组合机床与自动化加工技术, 2005(8):60-61.
[3] 赵文德, 宿德春. 水下机器人耐压壳体O形圈密封性能有限元分析[J]. 机械工程师, 2009(7):66-68.
[4] 周雷, 杜强, 左丹丹. 基于ABAQUS的码垛机器人小臂有限元分析[J]. 机械工程师, 2013(9):120-121.
[5] 李峰, 陈杰. 水下运动密封组件的设计与探讨[J]. 水雷战与舰船防护, 2007(3).
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备注/Memo

备注/Memo:
收稿日期:2017-02-15
作者简介:赵彦飞(1992-),男,陕西富平人,硕士研究生,研究方向为水下机器人运动姿态控制算法; 田军委(1973-),男,陕西渭南人,教授,工学博士,研究方向为视觉检测、数字图像处理、计算机辅助测量与控制、水下机器人关键技术。
更新日期/Last Update: 2017-06-25