Mechanism Design and Simulation Analysis of Hybrid Serial-Parallel Underwater Dredging Manipulator
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摘要: 近年来, 采用水下机器人清理水库底部淤泥逐渐成为一种全新的水下清淤解决方案, 水下机械臂则是其实现清淤作业的主要工具。针对清淤过程中串联机械臂结构刚度低、可靠性差等问题, 文中结合串联机械臂和并联机械臂设计了一款水下串并混联机械臂。首先通过螺旋理论设计了混联机构并完成了机械臂结构设计, 然后通过有限元仿真软件进行强度校核和静刚度分析, 结果表明串并混联机械臂与串联机械臂相比具有更高的结构刚度。该研究结果可对进一步改进和优化水下机械臂的设计提供理论与技术支撑。Abstract: In recent years, underwater robots have emerged as a novel solution for the removal of sediments at the bottom of reservoirs, with underwater manipulators being the primary tool for dredging operations. To address issues faced by serial manipulators, such as low structural stiffness and poor reliability, a hybrid serial-parallel underwater manipulator was designed, integrating serial and parallel manipulator mechanisms. By using screw theory, a hybrid mechanism and the manipulator structure were designed. A finite element analysis(FEA) software was then used for strength verification and static stiffness simulation analysis. The results indicate that the hybrid serialiparallel manipulator has higher structural stiffness than serial manipulators. The result can provide theoretical and technical support for optimizing underwater manipulator design.
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图 2 RPS运动支链与运动副螺旋示意图
Figure 2. Schematic of RPS kinematic limb and kinematic pair screw
图 3 UPU运动支链与运动副螺旋示意图
Figure 3. Schematic of UPU kinematic limb and kinematic pair screw
图 7 2-RPS-UPU&2R串并混联机械臂三维模型示意图
Figure 7. Schematic of the three-dimensional model of 2-RPS-UPU&2R serial-parallel hybrid manipulator
图 11 水下混联机械臂变形云图(X轴方向加载)
Figure 11. Deformation contour of underwater hybrid manipulator (apply loads in X-axis)
图 12 水下混联机械臂变形云图(三轴方向同时加载)
Figure 12. Deformation contour of underwater hybrid manipulator (apply loads in three axes)
图 14 水下串联机械臂变形云图(X轴方向加载)
Figure 14. Deformation contour of underwater serial manipulator (apply loads in X-axis)
图 15 串联机械臂变形云图(三轴方向同时加载)
Figure 15. Deformation contour of serial manipulator(apply loads in three axes)
图 16 水下串并混联机械臂外部流场模型
Figure 16. External flow field model of underwater serial- parallel hybrid manipulator
图 17 水下串联机械臂外部流场模型
Figure 17. External flow field model of underwater serial manipulator
图 18 水下串并混联机械臂表面压力云图
Figure 18. Surface pressure contour of underwater serial- parallel hybrid manipulator
图 19 水下串联机械臂表面压力云图
Figure 19. Surface pressure contour of underwater serial manipulator
图 20 水下串并混联机械臂变形云图(受水流冲击)
Figure 20. Deformation contour of underwater serial-parallel hybrid manipulator (Impacted by water flow)
图 21 水下串联机械臂变形云图(受水流冲击)
Figure 21. Deformation contour of underwater serial manipulator (Impacted by water flow)
表 1 串并混联机械臂网格无关性检验结果
Table 1. Grid independence test results of serial-parallel hybrid manipulator
网格大小/mm 网格数量 末端变形量/mm 误差/% 10.0 148 672 1.986 9 — 5.0 166 842 2.510 0 26.33 4.0 221 433 2.368 5 13.74 3.5 260 236 2.043 1 5.64 3.0 320 094 1.960 1 4.06 
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表 2 水下混联机械臂末端变形量
Table 2. Deformation of the end effector of underwater hybrid manipulator
载荷方向 变形量/mm X 方向 Y 方向 Z 方向 X 轴 3.68×10−1 1.66×10−2 6.97×10−3 Y 轴 1.27×10−3 3.07×10−3 7.24×10−3 Z 轴 7.02×10−3 3.29×10−2 4.09×10−1
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表 3 水下混联机械臂末端偏转角
Table 3. Deflection angle of the end effector of underwater hybrid manipulator
载荷方向 偏转角/rad X 方向 Y 方向 Z 方向 X 轴 8.41×10−6 2.49×10−4 3.39×10−4 Y 轴 3.41×10−4 3.54×10−4 2.65×10−4 Z 轴 4.93×10−4 2.51×10−4 8.47×10−6
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表 4 串联机械臂网格无关性检验结果
Table 4. Grid independence test results of serial manipulator
网格大小/mm 网格数量 末端变形量/mm 误差/% 10.0 104 327 0.597 6 — 5.0 118 715 0.796 5 24.97 4.0 166 938 0.705 3 11.45 3.5 189 026 0.593 6 15.84 3.0 215 757 0.585 8 1.31
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表 5 水下串联机械臂末端变形量
Table 5. Deformation of the end effector of underwater serial manipulator
载荷方向 变形量/mm X 方向 Y 方向 Z 方向 X 轴 6.67×10−1 3.13×10−2 1.95×10−3 Y 轴 2.28×10−4 3.49×10−3 8.15×10−3 Z 轴 2.27×10−3 4.29×10−2 6.64×10−1
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表 6 水下串联机械臂末端偏转角
Table 6. Deflection angle of the end effector of underwater serial manipulator
载荷方向 偏转角/rad X 方向 Y 方向 Z 方向 X 轴 2.35×10−6 6.96×10−5 8.04×10−4 Y 轴 4.03×10−4 2.11×10−4 5.91×10−4 Z 轴 8.01×10−4 8.11×10−5 2.73×10−6
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表 7 串并混联机械臂外流场网格无关性检验结果
Table 7. Grid independence test results of the external flow field of serial-parallel hybrid manipulator
编号 网格数量 水阻力/N 误差/% 1 1 013 415 14.958 — 2 1 520 812 14.148 7.92 3 1 947 141 15.268 5.73 4 2 543 590 15.131 0.90
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表 8 串并混联机械臂外流场网格无关性检验结果
Table 8. Grid independence test results of the external flow field of serial-parallel hybrid manipulator
编号 网格数量 水阻力/N 误差/% 1 508 940 10.17 — 2 747 929 10.00 1.65 3 1 015 026 10.37 3.70 4 1 562444 9.90 4.53
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