水下作業(yè)機械手與工具自動對接技術(shù)研究.pdf

1、哈爾濱工程大學碩士學位論文水下作業(yè)機械手與工具自動對接技術(shù)研究姓名：杜維杰申請學位級別：碩士專業(yè)：機械電子工程指導教師：孟慶鑫20050201哈爾濱工程大學碩士學位論文AbstractUnderwateroperationalsystemisanimportantpartoftheunderwaterrobotincludingresearching，underwateroperationalmanipulatorunderwatero

2、perationaltoolkit，thesystemofunderwateroperationaltoolandcontrollingItissignificanttoresearchintothetechniqueofjoiningtheunderwateroperationalmanipulatortothetoolkit，becausewiththistechniquetheunderwateroperationalsystem

3、willbeabletoaccomplishsomecomplexoperationaltasks，suchasautomaticaUychangingoperationaltoolsInthisarticletheauthorrecommedsallpartsofunderwateroperationalsystemandmainlyanalyzesmechanicalflameandcontrollingsystemtounderw

4、ateroperationalmanipulatorandunderwateroperationaltoolkitItbuildmatrixofmanipulatorandtoolkitandoffersomesolutionstothejointofmanipulatorandtoobsItmakesthecationofjointrelationshipoftomanipulatorandtoolkitunderthedriveof

5、symmetncalvalueeomtrollingunsymmetncalliquidpressure，manipulatorslatterarmswingjointandthefortherarmoverlookjointandwristoverlookjointItCansolvesinglejointstaticrigiddegreeusingthetransmittedfunctionofthesinglejointservo

6、—controllingsystemItCanconstuctmatrixusingdifferentialconversionmethordsItCansolvemanipulativeflexibleusingsinglestaticrigiddegreeandmatrixSOitgainstaticrigiddegreeofthebottomofmanipulatofAtlastitanalyze，thejointsystemof