Knowledge Commons of Institute of Automation,CAS
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 | 复杂系统认知与决策实验室_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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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
ICMA.pdf(1468KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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