Development of a deep ocean electric autonomous manipulator |
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| Authors: | Zhi-hu Xiao Guo-hua Xu Fu-yuan Peng Guo-yuan Tang Xiong Shen Bo Yang |
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| Institution: | XIAO Zhi-hu,XU Guo-hua,PENG Fu-yuan,TANG Guo-yuan,SHEN Xiong and YANG Bo College of Navy and Ship Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China |
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| Abstract: | This paper describes an underwater 3500 m electric manipulator (named Huahai-4E, stands for four functions deep ocean electric
manipulator in China), which has been developed at underwater manipulation technology lab in Huazhong University of Science
and Technology (HUST) for a test bed of studying of deep ocean manipulation technologies. The manipulator features modular
integration joints, and layered architecture control system. The oil-filled, pressure-compensated joint is compactly designed
and integrated of a permanent magnet (PM) brushless motor, a drive circuit, a harmonic gear and an angular feedback potentiometer.
The underwater control system is based on a network and consisted of three embedded PC/104 computers which are used for servo
control, task plan and target sensor respectively. They communicate through User Datagram Protocol (UDP) multicast communication
in Vxworks OS. A supervisor PC with a virtual 3D GUI is fiber linked to underwater control system. Furthermore, the manipulator
is equipped with a sensor system including a unique ultra-sonic probe array and an underwater camera. Autonomous grasp strategy
based multi-sensor is studied. The results of watertight test in 40 MPa, joint’s efficiency test and autonomous grasp experiments
in tank are also presented. |
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| Keywords: | underwater electric manipulator deep ocean integration joints autonomous grasp |
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