Underwater Dexterous Hand Structure Design And Its Key Techniques Of Motion Control

As land non-renewable resources increasingly scarce,people for exploitation of Marine resources has become more and more urgent,the subsequent is used in the exploitation of water resources engineering equipment performance requirements more and more is also high.Underwater dexterous hand as the implementation of underwater robot end is an integral part of the robot,with work environment has become more and more bad,the stability of the accuracy of the dexterous hand,sensuous,such as performance study also become increasingly important.This subject is to design a suitable for the depth of the water within 0-100-m work underwater dexterous hand,and carries on the structural mechanics,mechanical properties,and kinematics and dynamics analysis research institutions to establish mathematical model of servo control system of underwater dexterous hand using PID algorithm to the established control system debugging,to improve the stability of the control system features and dynamic features,reduce the dexterous underwater hand work underwater affected by water flow,in the process of underwater dexterous hand control system for the future research to provide the reference.This paper firstly determines the driving mode of the underwater dexterous hand,and determines the overall design scheme of mechanical structure and the scheme of dexterous hand control system according to the dexterous hand drive.Combined with the overall design of the dexterous hand,the method of force and motion transmission is selected and determined.Design and model the basic parts of the dexterous hand according to the transmission mode of the movement,and then assemble all the parts to complete the mechanical structure of the dexterous hand.By using the components of the underwater dexterous hand with the ANSYS and Hyperworks software of 3d model and the overall structure mechanics performance analysis,judge dexterous underwater hand at work,all the components and the overall structure of the displacement and stress distribution.Based on the single finger and palm of the underwater dexterous hand,the base frame and relative coordinate system are established,and then the single finger kinematics analysis and the three-finger coordination motion analysis are respectively carried out.The research scheme of the integrated control system of underwater dexterous hand is established,and the power transmission device of the system is determined.The mathematical model of the hydraulic pressure control system is established,and the transfer function and state equation of the mathematical model are obtained,which lays the foundation for the subsequent analysis of the system's observability,controllability and stability.Secondly,the PID controller is used to model and simulate the control system in the MATLAB software,and the stability of the system is further improved by adjusting the three control parameters.In this paper,the overall mechanical structure of the dexterous hand for underwater environment is designed,and its structure is analyzed by mechanical properties and kinematic dynamics analysis,and the mechanical structure performance characteristics are tested.When carries on the kinematics dynamics analysis,the establishment of the dexterous underwater hand three refers to coordinate the relationship between sports and which results in a single equation,the kinetic energy of the design of underwater dexterous hand force servo control,hydraulic control system using MATLAB software Simulink module carries on the simulation,it is concluded that the step response curve,combined with PID control algorithm is integrated,that allows the system to the completion of rapid,accurate and stable work.