Research And Design Of Hydraulic Underwater Manipulator Working In A Simulated Environment Of Deep Sea

Due to human’s consumption of resources year and year, they are lack on theland. So resources under the ocean are paid more attention. With the develop ofmarine resources, research for the operation equipment in the deep sea is an urgentneed. Underwater manipulator is an important and widely used equipment whichworks in the deep sea.This paper introduces the international and domestic development of underwatermanipulator. According to needs of the program, a general plan for the manipulatoris presented. Based on the kinematics model, the workspace for manipulator isanalyzed.On the foundation of the work above, the mechanical design of the manipulatoris carried out. The performing machine is designed and its clamping force iscalculated. Taking the big arm of the manipulator for an example, the drivingmechanism of the joint is designed. The hydraulic cylinder is lay-out. The max forcethat the hydraulic cylinder should provide and the main parameters of it arecalculated. Three dimensional design of the manipulator and engineering drawingare presented.The hydraulic control system of the manipulator is designed. The schematicdiagram for the hydraulic system and how the system works are given. Themathematical model for the mechanical-hydraulic proportional control system isestablished. After simplified, the transfer function is presented.The components for the hydraulic system are selected. According to the samplebook the parameters concerned with the transfer function are figured out. Themathematical model of the hydraulic control system is built and the stability of thesystem is analyzed with MATLAB. A calibration method with PID is designed forthe system. Three parameters for PID is worked out through two steps. Comparedthe system with PID and the system with no PID the result of calibration is good.