共查询到19条相似文献，搜索用时 125 毫秒
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“鱼鹰”号载人潜器打捞机械手的研制 总被引：2，自引：0，他引：2
本文介绍国内研制的第一只打捞机械手,该机械手的最大伸距为2805mm,抓举能力为1000N,有三个自由度,机械手备有三种手爪,可根据作业内容的不同进行更换,当机械手手爪抓获沉物超过100kg时,可实行手爪的自动或手动解脱,供水面母船起吊回收,在危及潜器及操作人员生命安全情况下,机械手可实现应急抛弃。文中,作者从现代设计法的角度出发,对机械手的性能及结构设计特点等方面进行了阐述。该机械手安装于“鱼鹰”号载入潜器上,在很短时间内,已可靠地从水下打捞起3t多贵重沉物,获明显的济经效益。使用证明,打捞机械手性能良好,完全能满足水下打捞作业的要求。 相似文献
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水下机器人作业机械手的研究与发展 总被引：6，自引：1，他引：6
水下作业机械手是水下机器人核心组成部分，研究第二、第三代水下机械手技术是水下机器人的重要课题，本文仅就水下作业机械手当前的发展状态，设计原则及智能化技术的研究，提出有关看法，仅供研究水下机械手课题展开讨论。 相似文献
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为适应种种高难度水下作业的要求,水下机械手需要多自由度,多关节结构,本文介绍一种以反馈控制为基础建立的,控制多关节机械手运动的算法。建立算法是设计控制系统的基础。 相似文献
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随着对水下机器人研究的逐步深入，其运动能力已由早期单纯的平动逐步强化为有多个自由度的空间运动，对其进行动力学研究是进行其它方面能力研究的基础。为研究多自由度水下机器人的运动，对某型八推进器水下机器人进行了动力学方程建模，得出了其在6个自由度上的运动方程，在此基础上，对其进行了运动仿真及性能分析，得到了该型水下机器人在6个自由度上的运动性能。通过仿真计算的结果，可以直观地了解其运动能力。 相似文献
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水下用电安全是潜水员在施工作业中经常遇到的一个实际，且竦手的问题。本文概要分析了潜水员水下用电安全的技术范畴，遭受电击时的主要特征、水下电气设备的故障漏电电流、防电击的基本方法、水中作业的安全距离，以及水中含盐量对用电安全的影响等在潜水员水用电安全密切相关的若干基本问题。 相似文献
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针对现有拖曳式水下潜器控制机构复杂、航向与姿态不容易稳定的缺陷,提出和设计了一种具有航向与姿态稳定的多自由度可控制拖曳式水下潜器样机。该样机主要由鱼雷状浮体、固定水平主翼、转角可控制襟翼、立式翼型主体等部分组成,潜器的深度控制通过控制襟翼的偏转来诱导固定水平主翼攻角的改变来实现;潜器的横荡运动操纵以通过控制两个作为转艏控制器的导管螺旋桨的转向与转速、诱导立式翼型主体产生诱导力矩使其产生横向偏转来进行。文中所提出和设计的样机具有运动过程中自我稳定能力强、航向稳定性好、控制机构简单并具有较高实用价值的特点。 相似文献
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Depth-trim mapping control of underwater vehicle with fins 总被引：1，自引：1，他引：0
Underwater vehicle plays an important role in ocean engineering.Depth control by fin is one of the difficulties for underwater vehicle in motion control.Depth control is indirect due to the freedom coupling between trim and axial motion.It includes the method of dynamic analysis and lift-resistance-coefficient experiment and theory algorithm.By considering the current speed and depth deviation,comprehensive interpretation is used in object-planning instruction.Expected depth is transformed into expected trim.Dynamic output fluctuation can be avoided,which is caused by linear mapping of deviation.It is steady and accurate for the motion of controlled underwater vehicles.The feasibility and efficiency of the control method are testified in the pool and natural area for experiments. 相似文献
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Wave effects on ascending and descending motions of the autonomous underwater vehicle 总被引：1，自引：0，他引：1
In the paper, a hydrodynamic model including the characteristics of maneuvering and seakeeping is developed to simulate the six-degree of freedom motions of the underwater vehicle steering near the sea surface. The corresponding wave exciting forces on the underwater vehicle moving in waves are calculated by the strip theory, which is based on the source distribution method. With the hydrodynamic coefficients relevant to the maneuvering and seakeeping, the fourth-order Runge–Kutta numerical method is adopted to solve the equations of motions and six-degrees of freedom of the motions for the underwater vehicle steering near the free surface can be obtained. The wave effect on the corresponding motions of the underwater vehicle is investigated and some interesting phenomena with respect to different wave frequencies and headings are observed. The hydrodynamic numerical model developed here can be served as a valuable tool for analyzing the ascending and descending behaviors of the underwater vehicle near the sea surface. 相似文献
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针对海洋环境下自主水下机器人（AUV）的路径规划问题，提出了一种基于框架四叉树的改进量子粒子群算法（QPSO），首先使用框架四叉树的方法对障碍物建模，该方法提高了建模的精度且对后续算法的效率也有极大的改进，之后设计改进的量子粒子群算法，并且结合水下环境的特殊性设计适应度函数，综合考虑航线路径长度、偏转角度以及海流影响，使得算法可以在水下环境中寻得能耗最短的解路径。最后通过仿真试验验证，相比于传统的栅格法和粒子群算法，改进量子粒子群算法的运算时间更短，收敛速度更快，其独特的适应度函数可以使AUV能更好适应水下多变的环境，且能利用海流设计能耗更小的路径，具有很大的实用价值。 相似文献
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A discrete time-delay control (DTDC) law for a general six degrees of freedom unsymmetric autonomous underwater vehicle (AUV) is presented. Hydrodynamic parameters like added mass coefficients and drag coefficients, which are generally uncertain, are not required by the controller. This control law cancels the uncertainties in the AUV dynamics by direct estimation of the uncertainties using time-delay estimation technique. The discrete-time version of the time-delay control does not require the derivative of the system state to be measured or estimated, which is required by the continuous-time version of the controller. This particularly provides an advantage over continuous-time controller in terms of computational effort or availability of sensors for measuring state derivatives, i.e., linear and angular accelerations. Implementation issues for practical realization of the controller are discussed. Experiments on a test-bed AUV were conducted in depth, pitch, and yaw degrees of freedom. Results show that the proposed control law performs well in the presence of uncertainties. 相似文献
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海况对水下运载器吊放回收的影响 总被引：1，自引：1，他引：1
本文将水下运载器，吊索和母船看作是一个由弹簧连接的单自由度系统，通过对系统进行分析和研究，建立了水下被吊物体在吊索带动下，由吊臂端点运动引起的运动响应的物理模型、数学方程，并编制了各项参数可调的计算机程序以求解水下物体的运动轨迹。运用此程序，对影响参数作系列变化后进行了运动响应计算，并绘制成运动响应随这些参数变化的曲线，为水下吊放回收系统的设计提供了依据 相似文献
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PETREL,a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV (autonomous underwater vehicle).It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile.In this paper,theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration.In addition,due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes,the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced,and the tailored dynamic equations of the hybrid glider are formulated.Moreover,the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials. 相似文献