| 一种用于SIWR—Ⅱ型水下机械手的三自由度自动工具库 |
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| 引用本文： | 王以伦,杨双华,张立勋,曹彩霞.一种用于SIWR—Ⅱ型水下机械手的三自由度自动工具库[J].机床与液压,2001,1(1):18-19. |
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| 作者姓名： | 王以伦 杨双华 张立勋 曹彩霞 |
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| 作者单位： | 哈尔滨工程大学机电学院, |
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| 基金项目： | 黑龙江省自然科学基金资助项目 |
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| 摘 要： | 工具自动换接技术是提高水下机器人的作业能力和作业水平的关键技术之一。本文针对SIWR－Ⅱ型五自由度电液伺服水下作业机械手研制了一种三自由度自动工具库，实现了水下机械手在水下可自动更换四种作业工具、在一次下潜中完成多种作业任务的目标。文中具体介绍了自动工具库的原理结构和工具自动换接的控制程序。
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| 关 键 词： | 自动工具库 水下机械手 自动换接路径 AVR单片机 |
| 修稿时间： | 2000年3月27日 |
Three-freedom auto tool kit for SIWR-II type underwater manipulator |
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| Wang Yilun.Three-freedom auto tool kit for SIWR-II type underwater manipulator[J].Machine Tool & Hydraulics,2001,1(1):18-19. |
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| Authors: | Wang Yilun |
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| Abstract: | The technique of auto - exchange tool is the one of the key techniques to advance the work ability and level of the underwater manipulator. A kind of auto tool kit with three freedom has been developed in this paper, used for SIWR - II type underwater manipulator with five- freedom which is controlled by electro - hydraulic servo - valve. It implemented the object that the manipulator can exchange four kinds of tool underwater and perform several tasks in one - submergence. The structure and the control procedure of the auto tool kit are described in this paper. |
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| Keywords: | Auto tool kit Underwater manipulator Auto exchange path AYR single -chip computer |
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