The invention discloses an underwater series-parallel hybrid mechanical arm with motion redundancy. The underwater series-parallel hybrid mechanical arm comprises an end effector, a two-degree-of-freedom 2R series mechanism, a six-degree-of-freedom 2-RRRPRS-RRRPRRU motion redundancy parallel mechanism and a base mounting frame. The series-parallel mechanism improves the motion precision, the structural rigidity and the reliability of the underwater mechanical arm while ensuring enough working space. A planar five-rod two-degree-of-freedom mechanism is adopted to be matched with a swing rod to achieve motion redundancy design, and the parallel mechanism can avoid singular configuration through coordinated control over a plurality of driving elements in branch chains. The motion redundancy design is adopted, the singular configuration of the parallel mechanism can be avoided, the working space of the parallel mechanism is expanded, meanwhile, the motion performance of the underwater mechanical arm is improved, the flexibility of the mechanism is improved, the structural rigidity and the bearing capacity of the mechanism are improved, and therefore the underwater mechanical arm can better adapt to the underwater complex and changeable working environment.

    本发明公开了一种具有运动冗余的水下串并混联机械臂,包括末端执行器、二自由度2R串联机构、六自由度2‑RRRPRS‑RRRPRRU运动冗余并联机构和基座安装架;串并混联机构在确保足够工作空间的同时提高了水下机械臂的运动精度、结构刚度和可靠性。采用平面五杆二自由度机构配合摆杆实现运动冗余设计,通过对支链内多个驱动元件的协调控制使得并联机构能够规避奇异位形。采用运动冗余设计可以规避并联机构奇异位形,扩大并联机构工作空间的同时也提高了水下机械臂的运动性能,增加了机构的灵巧性,提高了机构的结构刚度和承载能力,从而使水下机械臂能够更好地适应水下复杂多变的作业环境。


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    Title :

    Underwater series-parallel hybrid mechanical arm with motion redundancy


    Additional title:

    一种具有运动冗余的水下串并混联机械臂


    Contributors:
    SU WENBIN (author) / XIA YIN (author) / HU QIAO (author) / ZHANG JIAN (author) / WANG ZHENGDA (author) / WEI HONGBO (author) / REN WEI (author) / ZHAO YULIANG (author) / JIA HAN (author) / GUO MENGYUAN (author)

    Publication date :

    2023-11-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen




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