Dynamics Analysis And Simulation For Underwater Manipulator

With the declining of non-renewable resources in the land, people have turned theirattention to the development and utilization of marine resources. The natural conditions ofthe marine environment are extremely harsh relative to the terrestrial environment, so itneeds to develop the equipment for the investigation of marine resources. Underwatervehicle is developed in such demand. The underwater manipulator is an important tool ofunderwater vehicle while operating in the water and it is one of the key technologies for thedevelopment and application of underwater vehicle. Supported by the National HighTechnology Research and Development Program of China (No.2011AA040201)"Multifunction underwater crawling robot for nuclear", the thesis is carried on the dynamicsanalysis and simulation of underwater manipulator.The main contents and innovative achievements are as follows:1The kinematic model of4-DOF underwater manipulator is built; the problem ofinverse kinematics of the manipulator is researched; the Jacobian matrix and the staticsequation of the manipulator are introduced.2Use the differential transformation to simplify the Lagrange equation, the dynamicmodel of underwater manipulator and the dynamic equation of operating space areestablished.3Based on the Morison equation and the Lagrange method, the hydrodynamicmodel of underwater manipulator is established, the torque act on each joint is obtained.4B-spline is utilized to generate joint trajectory. Based on the Morison equation andthe Lagrange method, the contribution of buoyancy, water resistance and additional massforce to manipulator’s dynamic are studied.5According to the dynamic model error and non-parametric change, the slidingcontrol is applied in the underwater robot control; use the quasi-sliding mode control toweaken chattering.