Structure Optimization Design And Operability Research Of Deep-sea Hydraulic Manipulator

Being the core tool in deep-sea working,deep-sea hydraulic manipulator plays a key role in the development and utilization of ocean resources.In recent years,with the rapid development of underwater robot,deep-sea operation is developing towards the direction of autonomy and intelligence.And the demands for deep-sea manipulator are increasing.It puts forward higher requirements in working ability,movement stability and safety reliability.It is very important to optimize the performance of deep-sea hydraulic manipulator.According to the special working environment and characteristics of deep-sea hydraulic manipulator,this thesis made studies of dimension optimization of deep-sea hydraulic manipulator,improvement of calculation method of manipulator performance index,base disturbance analysis of deep-sea hydraulic manipulator,optimization of arm structure and selfinterference collision detection.The results were verified by kinematics and dynamics simulation and finite element method.The following are main research contents of this thesis:According by D-H method,the model of deep-sea hydraulic manipulator was established,and its forward kinematics and inverse kinematics were calculated.The water drag force in the process of movement was calculated by using the Morison formula.And the Newton-Euler method was used to establish the dynamic model and base disturbance calculation model of the manipulator in deep-sea working.It provided a theoretical basis for the follow research and verification.In order to improve the workspace flexibility and manipulability speed performance index of deep-sea hydraulic manipulator,the optimization model of the global performance of the mechanism size was established.And the calculation method of the global performance was improved.The optimal link parameters configuration based on the global workspace flexibility and manipulability speed performance index were obtained by using the genetic algorithm.The factors that affect the base disturbance of deep-sea hydraulic manipulator were analyzed.The optimization model of the water drag force of the arms section was established,and the shape optimization of the deep-sea hydraulic mechanical arm was completed by using orthogonal experimental design,response surface model and genetic algorithm.The mechanical properties in dangerous working condition were calculated by finite element method to verify the optimization results.Applying the relative distance between the arm and the center of manipulator wrist,the approximate collision boundary was obtained by using the space geometry model.And it was verified by MATLAB and ADAMS simulation.