蛟龙号潜水机械手的岩心钻探运动学建模与分析

Xu Yang, Xin Liu, Shizhen Li, Yugang Ren, Limin Zhu
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引用次数: 0

摘要

深海复杂的地形给 "蛟龙 "号潜水器的岩心钻探带来了巨大挑战。针对这一问题,我们提出了岩心钻取运动学模型,并综合考虑了 "蛟龙 "号潜水器的不确定姿态,对潜水器的岩心钻取行为进行了评估。首先,我们建立了深海岩芯钻探任务的正演运动学模型,满足了重力方向岩芯钻探的要求。在正向运动学方程的基础上,我们建立了双冗余反向运动学模型,该模型能够根据所需的岩心钻取轨迹确定六个活动关节所需的运动轨迹。通过几个计算实例对岩心钻探工作空间和蛟龙号潜水机械手的运动进行了评估。建立的正向和反向运动学模型具有清晰的解析方程,因此可直接应用于基于蛟龙号潜水器机械手的岩心钻探任务。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Core-drilling kinematic modeling and analysis of Jiaolong submersible manipulator
The complicated topographies of the deep sea pose significant challenges for the core drilling with the Jiaolong submersible manipulator. To address this problem, we proposed a core-drilling kinematic model and evaluated the core-drilling behavior of the submersible manipulator by comprehensively considering the uncertain posture of the Jiaolong submersible. First, we established a forward kinematic model for the core-drilling task in deep sea, which satisfied the requirement of gravitational-direction core drilling. Based on the forward kinematic equations, we then built a double-redundancy inverse kinematic model, which was able to determine the required motion trajectories of six active joints according to the desired core-drilling trajectory. The core-drilling workspaces and the motions of the Jiaolong submersible manipulator were assessed with several calculation examples. The established forward and inverse kinematic models are constructed with clear analytic equations, and thus are directly applicable to the Jiaolong submersible manipulator-based core-drilling task.
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