| 基于轨迹规划的水下机械手电液控制系统研究 |
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| 引用本文： | 张建华,唐国元,黄道敏,谢金辉.基于轨迹规划的水下机械手电液控制系统研究[J].机械与电子,2012(3):69-72. |
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| 作者姓名： | 张建华 唐国元 黄道敏 谢金辉 |
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| 作者单位： | 1. 华中科技大学船舶与海洋工程学院,湖北武汉,430074
2. 空军雷达学院,湖北武汉,430010 |
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| 摘 要： | 水下机械手是海洋油气开采及应急作业的重要装备，针对其作业特点，建立了机械手三维结构模型，分析了其运动学正逆解，研究了其末端执行器直线运动轨迹规划方法、电液系统模型及控制方法，以此为基础提出了基于轨迹规划的水下机械手电液控制方法。在Matlab／Simulink环境下建立了电液控制系统的仿真模型。
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| 关 键 词： | 水下机械手 轨迹规划 电液控制 |
The Study of Electro-hydraulic Control System of the Underwater Manipulator Based on Trajectory Planning |
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| ZHANG Jian-hua
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TANG Guo-yuan
,
HUANG Dao-min
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XIE Jin-hui.The Study of Electro-hydraulic Control System of the Underwater Manipulator Based on Trajectory Planning[J].Machinery & Electronics,2012(3):69-72. |
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| Authors: | ZHANG Jian-hua TANG Guo-yuan HUANG Dao-min XIE Jin-hui |
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| Affiliation: | 1(1.Underwater Technology Laboratory,School of Naval Architecture and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China;2.Air Force Radar Academy,Wuhan 430010,China) |
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| Abstract: | Underwater manipulator is the important equipment in exploitation of marine oil-gas and emergency work.Considering the characteristics of its work,the method of trajectory planning when the trajectory of end effector is linear and the electro-hydraulic control method based on trajectory planning are studied.Three-dimensional model of the underwater manipulator is constructed and the forward-inverse kinematics solutions are analyzed.This paper studies the method of trajectory planning when end effector move in a straight line,the electro-hydraulic system model and the control method.On the base of the above studies,the electro-hydraulic control method of the underwater manipulator based on trajectory planning is established.The simulation model of electro-hydraulic control system is built in the environment of Matlab/Simulink. |
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| Keywords: | underwater manipulator trajectory planning electro-hydraulic control |
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