摘要
水下机械手是作业型水下机器人的首选配置装备,其具有运动灵活、抗干扰性强等优点,获得了国内外学者的广泛关注。针对水下机械手的功能、结构特征、动力学性能及控制方法,现已有大量学者开展研究,其中动力学分析是研究核心,但目前缺乏对其的系统性总结。为此,聚焦于水下机械手动力学的研究方法与技术,首先对水下机械手用于不同水下作业时的功能和设计特征进行了总结;然后对水下机械手的动力学建模方法进行了分类和比较,主要包括基于误差补偿的动力学建模方法和基于水动力学模型的动力学建模方法;最后对惯性及黏性水动力学模型的构建方法进行了详细描述。通过对比不同的水下机械手动力学建模方法,指出了未来可研究的新方向。研究结果可为后续的水下机械手研究提供一定参考。
The underwater manipulator is the preferred configuration equipment for the operational underwater robot,which has the advantages of flexible movement and strong anti-interference,and has been widely concerned by scholars at home and abroad.A large number of scholars have carried out research on the function,structural characteristics,dynamics performance and control methods of the underwater manipulator.Among them,the dynamics analysis is the research core,but there is a lack of systematic summary at present.Therefore,focusing on the research methods and technologies of underwater manipulator dynamics,the functions and design features of the underwater manipulator used in different underwater operations were summarized;then,the dynamics modeling methods for the underwater manipulator were classified and compared,mainly including the dynamics modeling method based on the error compensation and the dynamics modeling method based on the hydrodynamics model;finally,the construction method of inertial and viscous hydrodynamics models were described in detail.By comparing different dynamics modeling methods of the underwater manipulator,the new research direction in the future was pointed out.The research results can provide some reference for the follow-up research of underwater manipulators.
作者
刘晓瑜
田颖
张明路
LIU Xiao-yu;TIAN Ying;ZHANG Ming-lu(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300132,China)
出处
《工程设计学报》
CSCD
北大核心
2021年第4期389-398,共10页
Chinese Journal of Engineering Design
基金
国家重点研发计划资助项目(2018YFB1309401)
河北省高等学校科学技术研究项目(QN2018090)。
关键词
水下机械手
动力学分析
误差补偿
水动力学模型
underwater manipulator
dynamics analysis
error compensation
hydrodynamics model
作者简介
刘晓瑜(1996-),女,山西吕梁人,硕士生,从事水下机械手动力学分析与精准控制研究,E-mail:lxy_amber@163.com,https://orcid.org/0000-0003-2610-3000;通信联系人:田颖(1987-),女,河北石家庄人,讲师,博士,从事智能机器人技术与应用研究,E-mail:flyserelo@126.com。
