Research On Experimental Gripper For The Subsea Robot's Typical Operating Assignment

Supported by the National '863'Plan and the National Science Foundation of China, this thesis focuses on the research of the experimental gripper for the subsea robot's typical operating assignment.Firstly , the thesis deeply analyzes and researches the actualities of the national and international robot gripper .Based on this , the system programme of robot gripper is confirmed. After designing the programmme of the replaced finger, mainly, the underactuated finger is designed.the parameters of the underactuated finger are confirmed. The gripper structure is analyzed. And successfully waterproof design for the gripper system is done. It ensures the whole gripper system's safety. In succession, based on analyzing the subsea robot's typical operating assignment, the optimum multi-sensor is outfitted .Lastly, the intelligent control system's hardware and software are introduced simply.Based on the characteristic of the subsea operating assignment, the tri-finger shunt-wound experimental gripper system has been designed. This gripper has simply structure and few motor , and control easily , and has adaptive ability for the grasped objects. It gives the continuous research essential hardware support.