水下机械手的理论和设计问题

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水下机械手的理论和设计问题In this paper we discuss the theory and
implementation issue that is faced by underwater
manipulators designers. It is collective information and
method that was extracted from work by previous
researchers. The paper presented some of the modeling
parameters which is normally included in the
underwater robotic designs which are add mass， added
corriolis， drag force and buoyancy. Simulations of all
these parameters were run using the MATLAB by
modifying some of the code which was created by
Peter Corke through his robotic toolbox. A comparison
between land based design and underwater manipulator
design were done which indicates an increase in the
torque required to make similar movement in the link
joints due to the added parameters as the manipulator
perform its work underwater. In this paper we have
used the PUMA 560 configuration which is generated
inside the robotic toolbox as our manipulator tool.The
paper then concludes with next direction of the project
and improvement.
1. Introduction
Oceanic exploration has become an emerging field
of research due to many human resources which is
located beneath the deep sea. Deep sea exploration
poses a different challenge to human being since we
are not able to withstand the harsh condition that it
poses. Therefore robotic research has come into place
in order to prevent human intervention in the deep sea.
Current field of intense research focuses on the
development and deployment of AUV (Autonomous
Underwater Vehicle) which is able to maneuver itself
into the deep ocean. This will remove human from
being exposed to the hazardous environment during
underwater exploration. Some of the application of the
AUV includes inspection whereby the AUV is
equipped with camera to perform its duty to inspectthe
surrounding of the required area. Underwater AUV are