Statics Analysis And Path Programming On Underwater Manipulator And Its Computer Simulation

In this paper, the kinematics models of SIWR- II type underwater manipulator are introduced concisely, mathematics model of reaching space are obtained. On this foundation, the joints forces and moments of SIWR-II type underwater manipulator are analyzed and researched by using recursive arthmetic. The computing formulae of joints forces and moments under balance are built, at the same time the suitable and fast computing program is developed. Three movement paths including cubic polynomical, trigonometric function and quintic polynomical are described by using joints space method, then the joints forces and moments of SIWR-II type underwater manipulator are analysed in three movement paths above and the moments changes are simulated with Matlab, at last some conclusions, which are the relations between movement paths and joints moments are gotten.