| 兰鲸号潜器两型机械手的结构设计研究 |
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| 引用本文： | 茅及愚,张向明,徐国华,李维嘉,向忠祥,王承禧.兰鲸号潜器两型机械手的结构设计研究[J].海洋工程,1998(1). |
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| 作者姓名： | 茅及愚 张向明 徐国华 李维嘉 向忠祥 王承禧 |
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| 作者单位： | 华中理工大学交通科学与工程学院 |
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| 摘 要： | 本文介绍了装备于我国自行研制的“兰鲸”号双功型潜水器上的两型机械手的主要性能参数和设计特点。其中一只为打捞机械手，最大伸距２８０３ｍｍ，举力１５００Ｎ，三个自由度，机械手备有五种手爪，可根据作业内容的不同进行更换，手爪具有锁紧和解脱功能。另一只为作业机械手，最大伸距２３００ｍｍ，举办３２０Ｎ，六自由度，手爪具有缆绳剪切功能力。两型手在载人工况可实行应急抛弃。
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| 关 键 词： | 水下机器人 双功型潜器 水下作业 水下机械手 |
THE STRUCTURE DESIGN AND STUDY OF TWO MANIPULATORS ON BLUE WHALE UNDERWATER VEHICLE |
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| Mao Jiyu Zhang Xiangming Xu Guohua,Li Weijia Xiang Zhongxiang Wang Chengxi.THE STRUCTURE DESIGN AND STUDY OF TWO MANIPULATORS ON BLUE WHALE UNDERWATER VEHICLE[J].Ocean Engineering,1998(1). |
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| Authors: | Mao Jiyu Zhang Xiangming Xu Guohua Li Weijia Xiang Zhongxiang Wang Chengxi |
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| Abstract: | This paper introduces the performance and construction of two operation manipulators equipped on the BLUE WHALE two function underwater vehicle, which are designed and built in China. One of the manipulators is used for underwater dragging. It has three degrees of freedom, maximum reach 2803mm and maximum lift capacity 1500N. Five kinds of jaws, which can be changed according to tasks, have been prepared for it. The jaws have both the locking function and the discharging function. Anotyer manipulator is used for general work. It has six degrees of freedom. 2300mm maximum reach and 320N maximum lift capacity. Its jaw has the function of cutting cables. The two operation manipulators can be discharged in case of emergency when the vehicle is in manned mode. |
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| Keywords: | underwater robot two function underwater vehicle underwater work underwater manipulator |
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