摘要
对水下移动机械手系统中本体与机械手之间的耦合动力学进行了研究,分别采用指数积方法和凯恩方程对水下移动机械手系统进行了运动分析和动力学建模并进行了求解,模拟了机械手在展开的过程中本体的运动,该研究工作对于进一步了解水下机械手的工作特点和开展机构的控制有重要价值。
As the underwater mobile manipulator has a much better prospect in aquaculture industry, the coupling dynamics be tween ontology and manipulator in underwater vehicle and manipu lator system is studied in this paper. The exponential product meth od and Kane＇s equations are used to carry out motion analysis and build the dynamic model of UVMS respectively and it was solved. The ontology movement model during development of the manipula- tor was simulated. The work is very useful to understand dynamic characteristics of UVMS and control of the development mechanism.
出处
《机械设计》
CSCD
北大核心
2012年第2期47-50,共4页
Journal of Machine Design
基金
国家自然科学基金资助项目(51175484)
青岛市应用基础资助项目(08-1-3-37-jch)
