Design and analysis of a novel lightweight underwater manipulator
Tang, Chong1,2; Wang, Yu1; Wang, Shuo1; Wang, Rui1; Tan, Min1
2017-08
会议名称IEEE International Conference on Mechatronics and Automation
会议日期August, 2017
会议地点TaKamatsu, Japan
摘要

This paper addresses the mechanism design of a novel lightweight underwater manipulator. This underwater manipulator has the properties of light weight, small size and uniform mass distribution. Specifically, the implement of every joint and the gripper of the underwater manipulator is presented. Then the forward kinematics model is built based on Denavit-Hartenberg principle, and the inverse differential kinematics model is established by virtue of Jacobian relationship. Moreover, the forward and backward recursive dynamics propagation model is introduced with consideration of hydrodynamics. Finally the simulation is conducted to verify the practicability of the underwater manipulator.

收录类别EI
语种英语
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/23552
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
第一作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Tang, Chong,Wang, Yu,Wang, Shuo,et al. Design and analysis of a novel lightweight underwater manipulator[C],2017.
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