Research On The Manipulator Testing System

The underwater manipulator is actually a kind of special application in mechatronicsand advanced technology of the underwater robot. Its research and promotion apply hasimportant practical significance on a country ’s deep-sea natural resource exploration andutilization, deep-sea submarine rescue, opto-electronic communication, life sciences andnational defense and military fields.The thesis is mainly aims at the scheme, structural design and its electro-hydraulicposition servo control system of a certain type of underwater manipulator. This underwatermanipulator is installed in the water of a small space, can achieve a larger workspace, andthe grippers of the manipulator needs maintain real-time level position in order to captureand locate the object. Therefore selected the technology programme of multiple-linkmechanism, not only meet the work requirements of space and gripper posture, but alsoreduced the control degree-of-freedoms and control cost. Based on the analysis of themanipulator technical requirements and the principle of multi-link, combined with surfaceanalytical and solid modeling method to solve manipulator’s gripper trajectory range tomeet its’ work-space requirements. In view of the two-cylinder series cooperationrelationship, analysis the grippers’ orthogonal trajectories, has laid the theoreticalfoundation for computer programming control.According to the selected scheme, taking into account the special work conditionunderwater, the stress characteristic and movement interference, we have completed themanipulator structural design. By computing the statics stress of some components whichis loaded complex loading force when the manipulator in special postures, we can see thestructures of the manipulator meet the strength, stiffness and stability requirements.The mode of symmetric valve-controlled asymmetric cylinder is difficult to build inthe manipulator’s electro-hydraulic position servo control system. the hydraulic spring-mass system natural frequency and zero position equivalent volume Vtare analyzed basedon load flow and load pressure are re-defined, Based on the valve-controlledasymmetrical cylinder transfer function，open loop and closed loop models are builtusing matlab/SimHydraulics, The values of damping ratio and the natural frequency are obtained from response to step signal at the zero position of the system.Then AMESim isused to simulate the control system of the manipulator control system, predict the it’sdynamic characteristics, and has compiled the manipulator’s control procedures.On the basis of the above work, has developed the prototype of the test system and itscontrol system. the test system of the manipulator is controlled by handles real-time ortrajectory planning procedures in various working conditions, the results shows that themanipulator test system has good dynamic characteristics under various workingconditions, can meet the technical requirements.