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[CN 201910985644.3] Underwater redundant hydraulic manipulator and working method thereof
[CN 201910985644.3] An Underwater Redundant Hydraulic Manipulator and Its Working Method Title: An Underwater Redundant Hydraulic Manipulator and Its Working Method Application Number: CN 201910985644.3 Applicant: Shandong University Application Date: 2019-10-17 Patent Type: Invention Application The present invention relates to an underwater redundant hydraulic manipulator and its working method, belongs to the technical field of underwater mechanical robots, and adopts chain series structure, including swing arm, big arm, middle arm, small arm A, small arm B, wrist arm, gripper, hydraulic system and STM32 control board. The swing arm, big arm, middle arm, small arm A, small arm B, wrist arm and gripper are sequentially connected. The hydraulic system provides power for the entire mechanical arm. The STM32 control board is used to control the action of the mechanical arm. The swing arm is installed on the underwater mobile platform to support the entire hydraulic mechanical arm, and realize the fixation and rotation of the whole mechanical arm, the large arm and the middle arm realize the pitch of the mechanical arm in a large range, the small arm A realizes the yaw of the mechanical arm, the small arm B realizes the pitch of the mechanical arm in a small range, the wrist arm realizes the yaw and rotation of the gripper, and the gripper realizes the clamping function. The invention has a compact and reasonable structure, a large effective action space, an expandable degree of freedom, and can adapt to different water depths.
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