Title :
Design and analysis of a three-DOF underwater manipulator
Author :
Zuyao, Yu ; Jie, Lei ; Weijia, Li ; Zhongxiang, Xiang ; Jinbo, Wu
Author_Institution :
Sch. of Naval Archit. & Ocean Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
Two schemes of manipulator are designed and compared to determine the optimal one for the underwater manipulator. The geometry relationship between rod mechanism and the hydraulic servo cylinder is explored, so does the cooperation of the two servo-cylinders in vertical plane. The locomotion of the underwater manipulator is simulated with 3D software, which shows that the chosen scheme can reach the required workspace quite well.
Keywords :
design engineering; manipulator dynamics; mobile robots; remotely operated vehicles; underwater vehicles; 3D software; design; hydraulic servocylinder; rod mechanism; three-DOF underwater manipulator locomotion; Educational institutions; Fingers; Manipulator dynamics; Pistons; Servomotors; 3-DOF; geometry and locomotion analysis; underwater manipulator;
Conference_Titel :
Fluid Power and Mechatronics (FPM), 2011 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8451-5
DOI :
10.1109/FPM.2011.6045765
