轻量级电驱水下机械臂设计与运动学分析

设计了一款四功能水下机械臂，并对驱动关节进行了模块化设计和密封测试。为了保证水下机械臂的可靠性，在水下机械臂水下测试前，进行了强度校核和模态分析。为了验证水下机械臂的性能，通过 Ｄ- Ｈ法建立了其运动学模型，在此基础上分别进行了正、逆运动学分析。此外还采用蒙特卡洛法，在正运动学分析的基础上研究了工作空间特点。研究结果将为进一步的运动控制提供有益的帮助。

Design and Kinematic Analysis of a Lightweight Electric Drive Underwater Manipulator

A four-function underwater manipulator was designed, and its modularization design and the seal test of drive joint were conducted. In order to ensure the reliability of the underwater manipulator, the strength check and modal analysis were carried out before any underwater test. The performance of the underwater manipulator was verified by establishing a kinematics model through D-H method, and the forward and inverse kinematics of the manipulator were analyzed. Furthermore, the working space characteristics were studied based on the forward kinematics analysis by using Monte Carlo method. The results of this design will provide useful guidance for further motion control.