Underwater Robot Design And Simulation

In this thesis, an underwater manipulator has been designed by author, and kinematics and dynamics equation of the manipulator has been set up. A method which to produce the trajectory in real time has been provided after studying trajectory planning theory of the manipulator. Kinematics and dynamics of the manipulator has been further and systematic studied in simulation technology with the Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software.In simulation analysis aspect, it has been elaborated that the problem how to establish a simulation model of the manipulator with the SolidWorks software. It has been discussed that the parameter establishment and the sensitive research in the model.A model has established according to the submarine environment in the ADAMS software. The model has had the function of simulating the fluent disturbance. The result has been obtained after the accomplishment of the simulation in ADAMS software.The thesis proposed two dynamics analysis method according as the manipulator dynamics characteristic. The first is the representative operation assignment dynamic method. Each kinematics parameter and the optimization function of dynamics has been calculated using the first method, and the structure of the manipulator has been optimized. The second is the non-trajectory searching method. The limit load of manipulator has been computed using the second method in entire space, then the parameter of the servo electromotor has been calculated with the simulation result.This thesis has established a method which how to analyses and simulate the underwater manipulator with the ADAMS software. The method has increased the design precision of the underwater manipulator and solved the difficult problem well which the parameter was unable to determine accurately in design. Therefore, the thesis has the vital significance for designing the underwater manipulator and enhancing the manipulator performance.