Abstract
Underwater Vehicle/Manipulator System (UVMS) is an important equipment for the exploitation of marine resources. The paper introduces a five-function manipulator, which is the main operating tool of UVMS and has four DOFs and a claw. All joints are driven by hydraulic cylinders for a better impermeability to seawater. A novel wrist mechanism utilizing groove cam is presented for achieving a rotation motion output. In addition, the dynamics of the manipulator interacting with the UVMS system is analyzed based on Kane’s method. The effects from the fluid environment are also taken into consideration, which include added mass, drag force, and buoyancy. Finally, dynamic simulations of UVMS are performed to reveal the effect of the volume ratio between the manipulator and vehicle on the stability of UVMS and a critical ratio is found.
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Acknowledgments
The authors are thankful for the fundamental support of the National Natural Science Foundation of China (Grant Numbers 51105013 and 51125020). The authors also gratefully acknowledge the financial support by State Key Laboratory of Robotics and System (HIT).
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Zhang, W., Xu, H., Ding, X. (2015). Design and Dynamic Analysis of an Underwater Manipulator. In: Deng, Z., Li, H. (eds) Proceedings of the 2015 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 338. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-46466-3_40
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DOI: https://doi.org/10.1007/978-3-662-46466-3_40
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