Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation
Development of an Underwater Manipulator and Its Free-Floating Autonomous Operation
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DOI：
10.1109/tmech.2015.2494068
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发表时间：
2016-04
期刊：
影响因子：
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通讯作者：
Yu Wang;Shuo Wang;Qingping Wei;M. Tan;Chao Zhou;Junzhi Yu
中科院分区：
文献类型：
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作者：
Yu Wang;Shuo Wang;Qingping Wei;M. Tan;Chao Zhou;Junzhi Yu
提出了一种具有轻量化多连杆结构的水下机械臂的设计方案，并对其自由漂浮自主操作进行了研究。该概念设计有效地减少了机械手和车辆之间的耦合，即使在空气中的车辆重量不明显大于机械手重量的情况下。阐述了机械结构的具体实现。提出了一种基于双目视觉的水下机器人闭环控制系统。实验结果表明，所设计的水下机器人能够快速完成水下机器人的自主操作。
This paper addresses the novel design of an underwater manipulator with a lightweight multilink structure and its free-floating autonomous operation. The concept design reduces the coupling between the manipulator and the vehicle efficiently, even in the case where the vehicle weight in air is not significantly greater than the manipulator weight. The specific implementation of the mechanical structure is elaborated. Moreover, a closed-loop control system based on binocular vision is proposed for underwater manipulation. In the end, experimental results demonstrate that the conceived underwater manipulator can accomplish the autonomous operation quickly.