Underwater Robotic Arm Test Platform

For the problem that the mechanical arm is unstable under water and the position accuracy is low. This paper designed an underwater manipulator test platform. Good attitude control and high grip accuracy can be achieved. Through the analysis of the mechanical body, the overall structural layout of the mechanical arm and the hardware control of the mechanical arm are determined. Considering the working requirements of the test platform is to meet the load-bearing weight of 30kg, the operating range is not less than 400mm, etc., and design a motor suitable for this platform. Finally, stress simulation and finite element analysis of the load-bearing parts (U-shaped plate) of the platform are carried out. The results show that the maximum displacement of the U-shaped bottom plate is located in the middle of the bottom plate, which is approximately 4.553e-0.002mm. The maximum stress is 1.505e+0.007N/m^2. The yield stress of the material is 6.204e+0.008N/m^2, which satisfies the requirement of yield stress. Prove that the design is reasonable. Keywords-Underwater Robot Arm; Test Platform; Motor; Finite Element Analysis