摘要
随着水下作业机器人在探测、打捞、管线检测与修复等领域的应用不断深入,水下多指灵巧手的研制和开发逐渐受到各国机器人研究者的关注和重视。基于对非水环境灵巧手设计经验的总结,设计了3指水下灵巧手及其防腐密封结构,对结构参数进行了优化设计,根据优化设计结果研制了3指水下灵巧手原理样机。测试结果表明,该手可灵活抓取多种复杂表面的物体,部分代替人工水下作业。
With the increasing application of the submarine robot in exploration, salvage, pipe inspection and repair, more and more researchers begins to pay attention to the investigation of the submarine multi-fingered dexterous hand. Based on the summarization of the non-water environment, the tri-fingered dexterous hand and its anti-corrosion sealing structure has been designed, meanwhile, the structure parameters have been optimized. According to the optimizing results, the prototype of the tri-fingered dexterous hand has been developed and the testing results show that this tri-fingered dexterous hand can grasp diverse complex objects,and it can substitute people for the submarine manual work partially
出处
《舰船科学技术》
2009年第1期63-67,共5页
Ship Science and Technology
基金
青岛科技大学博士科研启动基金资助项目(0022273)
关键词
水下
灵巧手
结构优化
submarine
dexterous hand
structure optimization
