DocumentCode
1826825
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
fYear
2011
fDate
17-20 Aug. 2011
Firstpage
237
Lastpage
241
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Fluid Power and Mechatronics (FPM), 2011 International Conference on
Conference_Location
Beijing
Print_ISBN
978-1-4244-8451-5
Type
conf
DOI
10.1109/FPM.2011.6045765
Filename
6045765
Link To Document