Analysis And Design Of Super-dexterous Manipulator Mechanism

Aiming at the cleaning demand of marine fouling objects attached to the surface of marine ships and offshore platforms,this paper designs a super-dexterous manipulator,and studies the kinematics and path planning of the manipulator.Using Bionics design idea and modular design concept,the module joint based on 2-DOF parallel mechanism is proposed,and the ultra-dexterous manipulator is composed of three different sizes of module joints.The modular joints of the ultra-dexterous manipulator use a hollow layout so that the high-pressure water pipe can pass through the inside of the robotic arm.The mechanical model of ultra-dexterous manipulator is established,and the hydraulic cylinder and hydraulic control circuit are designed.The kinematics model of the joint of the super-dexterous manipulator module is established,and the driving variable and attitude variable equation are solved,and the dimension parameters of the module joint are optimized and analyzed on the basis of this.According to the characteristics of the whole arm string and blending of the ultra-dexterous manipulator,the kinematics model of the super-dexterous manipulator Arm is established by using the improved D-H method,and the positive solution of the whole arm kinematics is obtained and the working space of the super-dexterous manipulator is solved.Based on the global path planning of the A* search algorithm at the end point of the ultra-dexterous manipulator,the nodes on the search path are fitted,the attitude of the whole arm of the super-dexterous manipulator is solved,the path planning of the super-dexterous manipulator is realized,and the static collision detection method under the envelope of the cylindrical body is given.The correctness of the path planning of the super-dexterous manipulator and the flexibility of the motion in three-dimensional space are verified by using Adams software simulation.