水下机械手的结构优化设计

随着水下作业机器人在探测、打捞、管线检测与修复等领域的应用不断深入,水下多指机械手的研制和开发逐渐受到各国机器人研究者的关注和重视.文中基于对非水环境机械手设计经验的总结,设计了三指水下机械手及其防腐密封结构,对结构参数进行了优化设计,根据优化设计结果研制了三指水下机械手原理样机,测试结果表明该手可灵活抓取多种复杂表面的物体,能部分代替人工水下作业.

Structure optimizing design of the submarine dexterous hand

With the increasing application of the submarine robot in exploration,salvage,pipe inspection and repair,more and more researchers begins to pay attention to the investigation of the submarine Multi-Fingered Dexterous Hand.Based on the summarization of the non-water environment,the tri-fingered dexterous hand and its anti-corrosion sealing structure have been designed,meanwhile,the structure parameters have been optimized.According to the optimizing results,the prototype of the tri-fingered dexterous hand has been developed and the testing results show that this tri-fingered dexterous hand can grasp diverse complex objects,and it can substitute people for the submarine manual work partially.