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

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

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

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Article Navigation > Journal of Unmanned Undersea Systems > 2025 > Accepted Manuscript

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

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

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

XIA Yin¹,
SU Wenbin^{2, 3},
HU Qiao^{2, 3
,},
ZHANG Jian²,
SHI Lin²

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, using underwater robots to clean the sediment at the bottom of reservoirs has gradually become a new solution plan for underwater dredging, and underwater manipulators are the main tool for underwater dredging robots to achieve dredging operations. This paper designs an underwater series-parallel hybrid manipulator by combining series and parallel manipulator to solve the problem of low structural stiffness and poor reliability of the series manipulator during dredging. Firstly, a hybrid mechanism was designed using screw theory and the structure design of manipulator was completed. Then, strength verification and static stiffness simulation analysis were completed by using finite element software. The results indicate that the series-parallel hybrid manipulator has higher structural stiffness compared to the series manipulator. This research result can provide theoretical and technical support for improving and optimizing the design of underwater manipulator.
- underwater manipulator,
- series-parallel hybrid mechanism,
- mechanism design,
- finite element simulation

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References(21)

References

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