Research On Mating Technology Between Underwater Manipulator And Automatic Toolkit

Underwater operational system is an important part of the underwaterrobot, including researching, underwater operational manipulator, underwater operational toolkit, the system of underwater operational tool and controlling. It is significant to research into the technique of joining the underwater operational manipulator to the toolkit, because with this technique the underwater operational system will be able to accomplish some complex operational tasks, such as auto matically changing operational tools.In this article the author recommeds all parts of underwater operational system and mainly analyzes mechanical frame and controlling system to underwater operational manipulator and underwater operational toolkit. It build matrix of manipulator and toolkit and ofler some solutions to the joint of manipulator and toobs. It makes the cation of joint relation ship of to manipulator and toolkit. under the drive of symmetncal value controlling unsymmetncal liquid pressure, manipulator's latter arm swing joint and the forther arm over look joint and wristover look joint It can solve single joint static rigid degree using the transmitted function of the single joint servo-controlling-system. It can constuct matrix using differential conversion methords. It can solve manipulative flexible using single static rigid degree and matrix, so it gain static rigid degree of the bottom of manipulator. At last it analyze, the joint system of manipulator and tools, containing liquid pressure automatic joint wrist and the oil route system.