Mechanism Design and Simulation Analysis of Hybrid Serial-Parallel Underwater Dredging Manipulator

XIA Yin; SU Wenbin; HU Qiao; ZHANG Jian; SHI Lin

doi:10.11993/j.issn.2096-3920.2024-0067

Volume 33 Issue 1

Mar 2025

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Article Navigation > Journal of Unmanned Undersea Systems > 2025 > 33(1): 131-141

XIA Yin, SU Wenbin, HU Qiao, ZHANG Jian, SHI Lin. Mechanism Design and Simulation Analysis of Hybrid Serial-Parallel Underwater Dredging Manipulator[J]. Journal of Unmanned Undersea Systems, 2025, 33(1): 131-141. doi: 10.11993/j.issn.2096-3920.2024-0067

Citation:

XIA Yin, SU Wenbin, HU Qiao, ZHANG Jian, SHI Lin. Mechanism Design and Simulation Analysis of Hybrid Serial-Parallel Underwater Dredging Manipulator[J]. Journal of Unmanned Undersea Systems, 2025, 33(1): 131-141. doi: 10.11993/j.issn.2096-3920.2024-0067

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Mechanism Design and Simulation Analysis of Hybrid Serial-Parallel Underwater Dredging Manipulator

doi: 10.11993/j.issn.2096-3920.2024-0067

XIA Yin^1
,,
SU Wenbin^{2, 3
,},
HU Qiao^{2, 3
,
,},
ZHANG Jian^2
,,
SHI Lin^2
,

1.
The 705 Research Institute, China State Shipbuilding Corporation Limited, Kunming 650106, China
2.
School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China
3.
Shaanxi Key Laboratory of Intelligent Robots, Xi’an Jiaotong University, Xi’an 710049, China

Received Date: 2024-04-10
Accepted Date: 2024-06-06
Rev Recd Date: 2024-06-02

Available Online: 2025-01-13

Abstract

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.
- underwater manipulator,
- series-parallel hybrid mechanism,
- mechanism design,
- finite element analysis

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References(22)

References

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