五自由度水下摄像机械手技术方案与虚拟样机设计研究

水下摄像机械手是进行水下复杂环境视频采集的理想工具。根据目前水下作业的使用需求,结合现有载人潜水器的技术特点,研究了水下摄像专用机械手的总体架构、机械原理、动力配置等关键技术指标,提出了水下摄像机械手初步方案,并用商用设计软件进行了虚拟仿真设计研究。结果表明,技术方案切实可行,为水下摄像机械手的工程化应用奠定了坚实的技术基础。

Research and Design of 5-freedomvidicon underwater manipulator and virtual prototype

Vidicon underwater manipulator is a useful tool for underwater operation in a complicated environment.In the paper,a blue print of a vidicon underwater manipulator is carried out.Both the operation requirements and the restriction of the current HOV are taken into account during the design process.The key characters of the manipulator,such as composing,mechanical principle,power type,are all discussed in the paper.The virtual prototype is also carried out by commercial designing software.The results show that the blue print of the manipulator is feasible,and it will lay a solid technical foundation for the engineering application of the vidicon underwater manipulator.