Modeling and Simulation of Cuttlefish-imitating Underwater Sampling Manipulators
In order to solve the problem of sample damage caused by excessive pressure exerted by the manipulator during underwater operation and the problem that sample cannot be saved after grasping, this study designs an underwater sampling manipulator driven by two coupling cylinder drivers that imitates t...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2024-06-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.06.009 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841546957853556736 |
|---|---|
| author | Zhang Xuehai Yang Zehui Wang Rugui Zeng Qineng |
| author_facet | Zhang Xuehai Yang Zehui Wang Rugui Zeng Qineng |
| author_sort | Zhang Xuehai |
| collection | DOAJ |
| description | In order to solve the problem of sample damage caused by excessive pressure exerted by the manipulator during underwater operation and the problem that sample cannot be saved after grasping, this study designs an underwater sampling manipulator driven by two coupling cylinder drivers that imitates the eating mode of acuttlefish. There is a bias impeller pump inside the manipulator, which forms a low pressure area to drive the water flow to draw the samples that are difficult to collect without contact. The three-dimensional model of the manipulator is established and the kinematics equation of the manipulator is calculated. The functional relation between the driver and the end effector is solved by the closed-loop vector method. The workspace and trajectory planning are obtained, and the rationality and feasibility of the manipulator structure are verified. Finally, the manipulator is assembled on the underwater robot, and the underwater navigation sampling at different angles is simulated, which lays a certain foundation for the future research of the manipulator in visual control and grasping. |
| format | Article |
| id | doaj-art-b6ef988fba6743f5813d3c269c7eba34 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b6ef988fba6743f5813d3c269c7eba342025-01-10T15:00:41ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-06-0148586462028233Modeling and Simulation of Cuttlefish-imitating Underwater Sampling ManipulatorsZhang XuehaiYang ZehuiWang RuguiZeng QinengIn order to solve the problem of sample damage caused by excessive pressure exerted by the manipulator during underwater operation and the problem that sample cannot be saved after grasping, this study designs an underwater sampling manipulator driven by two coupling cylinder drivers that imitates the eating mode of acuttlefish. There is a bias impeller pump inside the manipulator, which forms a low pressure area to drive the water flow to draw the samples that are difficult to collect without contact. The three-dimensional model of the manipulator is established and the kinematics equation of the manipulator is calculated. The functional relation between the driver and the end effector is solved by the closed-loop vector method. The workspace and trajectory planning are obtained, and the rationality and feasibility of the manipulator structure are verified. Finally, the manipulator is assembled on the underwater robot, and the underwater navigation sampling at different angles is simulated, which lays a certain foundation for the future research of the manipulator in visual control and grasping.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.06.009Underwater manipulatorBionicsSampling mechanismKinematic analysisWorkspace |
| spellingShingle | Zhang Xuehai Yang Zehui Wang Rugui Zeng Qineng Modeling and Simulation of Cuttlefish-imitating Underwater Sampling Manipulators Jixie chuandong Underwater manipulator Bionics Sampling mechanism Kinematic analysis Workspace |
| title | Modeling and Simulation of Cuttlefish-imitating Underwater Sampling Manipulators |
| title_full | Modeling and Simulation of Cuttlefish-imitating Underwater Sampling Manipulators |
| title_fullStr | Modeling and Simulation of Cuttlefish-imitating Underwater Sampling Manipulators |
| title_full_unstemmed | Modeling and Simulation of Cuttlefish-imitating Underwater Sampling Manipulators |
| title_short | Modeling and Simulation of Cuttlefish-imitating Underwater Sampling Manipulators |
| title_sort | modeling and simulation of cuttlefish imitating underwater sampling manipulators |
| topic | Underwater manipulator Bionics Sampling mechanism Kinematic analysis Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.06.009 |
| work_keys_str_mv | AT zhangxuehai modelingandsimulationofcuttlefishimitatingunderwatersamplingmanipulators AT yangzehui modelingandsimulationofcuttlefishimitatingunderwatersamplingmanipulators AT wangrugui modelingandsimulationofcuttlefishimitatingunderwatersamplingmanipulators AT zengqineng modelingandsimulationofcuttlefishimitatingunderwatersamplingmanipulators |