Research On Multi-manipulators Interfacing Apparatus Of Deep Submergence Rescue Vehicle

Deep submergence rescue vehicle (DSRV) is one of the main methods of rescuing and ensuring of submarines. Underwater interfacing is the key technique in DSRV rescuing performance. Considering the general low visibility,and disabled submarine's big inclining,rapid ocean current condition of China's sea area,a multi-manipulator interfacing instrument of DSRV is developed. This thesis designed and researched the overall construction of the instrument which consists of manipulators,hydraulic system and control system,analyzed the kinematics of the manipulators in processing of the performance,and made land-experiment and underwater interfacing experiment.Analyzing interfacing strategy and rescuing operation of foretime,the scenario of multi-manipulator interfacing instrument was proposed. The instrument has the ability of initiatively grasping,automatically interfacing,which promoted the ability and efficiency of interfacing operation. The interfacing process has three stages,which is respectively called searching grasp object ring and initiative connecting,calibrating grasping manipulators to align the interfacing skirt and the object ring's center and haul lowering DSRV interfacing with the disabled submarine.A mechanically compliance interfacing manipulator and claw was designed. Each arm has 2 DOF of swing and extending. Position of the object ring was calculated and designed. The hydraulic servo system using electric-fluid servo valves to realize closed loop positioning control integrated with electromagnetic direct-change valve to realize the arms' compliance control was designed. Hydraulic position servo system's composing,operation theory and practical realizing was illustrated. Derivates the transfer function of elements of the servo system,constructed the mathematic model of the position servo system and advance-lag revising controller was designed.For the three stages of interfacing operation,analyzed kinematics of single manipulator catches the object ring,two arms calibrating centering and four arms constructing a parallel mechanism to haul lowering. Single manipulator's counter kinematics was solved by adopt neural net method,and two arms correspondingcounter dynamics was analyzed as well.Aimed at testing whether the instrument can satisfy the request,land experiment and measurement was made to check its performance. Based on it,static and dynamic interfacing experiment was made in the pool. The instrument gratifyingly performed all the process many times,which made a good prepare for future's real vehicle.