供排气管对接机械手的机构研究与参数优化

根据水下救援作业中连接供排气管的需求,失事对象救生围壁的结构形式,遵循水下机械手机构选型原则,设计了一种专用的六功能气管对接水下机械手,并从机械手工作空间和轻量化要求两方面建立了机械手的数学模型,对其机构参数进行了优化设计。最后对优化结果进行了分析和工作空间的仿真。结果表明该机械手的设计能满足供排气管对接作业要求,达到了预期目的。

According to the demand of connecting the suppling and draining air hose during underwater escape and rescue operation,and the inner structure of wreck object salvage trunk bulkhead,following the choice principle of manipulator mechanism type,I designed a special 6-function pipe-connecting underwater manipulator,built up the mathematics model of the manipulator based on the workspace and lightweighting demand of manipulator,carried on the optimization design of the mechanism parameter.Finally I carried on the analysis and workspace simulation according to the optimized result.The result has proved that the design can meet the demand of the pipe-connecting operations,reach the anticipated goal.