Design And Analysis Of Deep Sea Hydraulic Manipulator

Hydraulic manipulator is the core device of deep sea intelligent precise operation and the key tool of deep sea survey and operation.It plays an important role in the implementation of China's Marine Strategy and building a maritime power.Under the support of the task "Development of Intelligent Precise Operation Module" of "CAS Strategic Pilot A-class Science and Technology Special Project",this dissertation takes the deep-sea hydraulic manipulator as the research object,designs the overall scheme of the manipulator,analyzes the kinematics and trajectory planning of the manipulator,and studies three control algorithms of the hydraulic joint.The simulation and experimental results show that the system design and control algorithm research meet the requirements of developing deep-sea hydraulic manipulator.The main work of this dissertation is as follows:1.Aiming at the design problems of deep-sea hydraulic manipulator,the design schemes of overall structure,mechanical structure,joint seal,hydraulic and control system are proposed.The maximum torque required by six joints of the manipulator is calculated,and the type of each joint actuator is determined.The simulation is carried out under the constraint of the target parameters of the manipulator end speed of 20 mm/s,and the results show that the design schemes are feasible.2.Aiming at the kinematics problem of the deep-sea hydraulic manipulator,the kinematics model of the manipulator is established according to the D-H parameters,the forward kinematics equation of the manipulator is derived by the transformation matrix method,the inverse kinematics solution of the manipulator is solved by the analytical solution method,and the workspace of the manipulator is analyzed by the Monte Carlo method.The results of calculation and simulation show that the designed manipulator has inverse kinematics solution,and the workspace meets the design objective.3.Aiming at the problem of the trajectory planning of manipulator,the cubic polynomial interpolation method and the quintic polynomial interpolation method in joint space are analyzed.The linear interpolation method and the circular interpolation method in Cartesian space are studied.And the trajectory planning based on 5-segment S-type acceleration and deceleration is designed.The calculation and simulation results show that the trajectory planning based on 5-segment S-type acceleration and deceleration requires little computation and has the characteristic of continuous acceleration,which provides support for the motion control of the manipulator.4.Aiming at the joint control problem of the deep-sea hydraulic manipulator,the mathematical model of the shoulder joint control system is established.The classical proportional Integration Differentiation(PID),single neuron PID and feedforward compensation PID control algorithms are designed.And the simulation experiments are carried out for the three algorithms.Finally,the classical PID control algorithm is used to do experiments for the shoulder joint system.The simulation and experimental results show that the control algorithms designed can meet the precision requirements of the manipulator.