The Structural Design Of Underwater Manipulator Based On Hydraulic Spiral Swing Cylinder

The exploitation of marine resources and marine scientific research has rapidly developed inthe last years. Underwater manipulator is a tool which can replace human beings to work in theunderwater harsh environment and it has now been widely appreciated. Torque output, rotationangle of joints, Lift capacity at full reach, working depth are the main technical indicators about thework ability of underwater manipulator. Because the technology gap with foreign countries, we hasnot yet developed underwater manipulator drive component which can achieve continuous rotationand high torque output. It limits the development of underwater robot mostly. This paper introducesthe technology of spiral swing cylinder. With professional design, it can make the spiral swingcylinders meet underwater manipulator’s requirements in the job, for a large angle of rotation drivemember and a high output torque. Based on the hydraulic cylinder spiral swing technique, thispaper designed the body structure of underwater manipulator according to the actual workingconditions.This dissertation is divided into five chapters and each chapter is summarized as follows:In the first chapter, by introducing the development of underwater robots of the world, itillustrated that the underwater manipulator had an increasing technical requirement in its practicalwork. Through the analysis of the situation in china and abroad about underwater manipulator,illustrates the gap between the world’s advanced level and china. This paper proposed solutions tothis problem. Finally, the paper describes the origin, purpose and significance.In the second chapter, proposed overall structure of the underwater manipulator and themovement program for each shutdown. Finished choosing the underwater manipulator’ bodymaterial. Establish the mechanical analysis equation about arm rotary joints and determine thereasonable parameters by using Matlab software to comparison the different data. Complete thehydraulic cylinder design and verification. Design the hand gripper structure of the underwatermanipulator. Have the finite element analysis about joints of the robot arm and boom main structure.Check the material strength about the joints and main structure.In the third chapter, analysis the structural principles of the spiral swing cylinder, compare thecharacteristics of different helical swing structure and determine the double helix swing cylindertechnology as the solution. Design the specific technical parameters of screw according the torqueoutput requirements and check the design. Based on the output angle requirements, determine theallocation of two-stage screw drive. Design seal structure of spiral swing cylinder. In the fourth chapter, designed the rod of spiral swing cylinder、the structure swing cylinderoutput shaft and completed the three-dimensional modeling in software. Design the cylinderstructure according the pressure resistance requirements and complete the three-dimensionalmodeling. Using the simulation module, the paper has a finite element analysis about the main parts.Check the strength of materials, stress, strain, etc.In the fifth chapter, it summarized the main work of the article and the article’s maininnovation. At last, it proposed the future research about the Spiral swing cylinder technology inunderwater manipulator.