CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Design and analysis of a novel lightweight underwater manipulator
Tang, Chong1,2; Wang, Yu1; Wang, Shuo1; Wang, Rui1; Tan, Min1
2017-08
Conference NameIEEE International Conference on Mechatronics and Automation
Conference DateAugust, 2017
Conference PlaceTaKamatsu, Japan
Abstract

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.

Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23552
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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