基于切片理论的水下灵巧手手指动力学分析

Analysis on Finger Dynamics of Dexterous Underwater Hand Based on Strip Theory

  • 摘要: 水中环境的影响使多自由度水下机械臂的动力学模型较为复杂.鉴于动力学模型对系统仿真、控制系统设计的重要性,本文基于切片理论对水下灵巧手手指的动力学进行分析;考虑水阻力、附加质量力的影响,建立了较为精确的动力学模型.采用SimMechanics进行了动力学仿真.仿真结果显示,水动力使手指运动轨迹偏离,因此,手指动态运动控制时必须对其进行补偿.

     

    Abstract: The dynamics of underwater manipulator with many degrees of freedom is much more complicated if hydro-dynamic terms are precisely treated.The dynamics is important for the robot system simulation and feedback control design,so the finger dynamics of dexterous underwater hand is analyzed based on the strip theory,and the precise dynamics model is established considering the drag force and added-mass force.Dynamic simulation is carried out using SimMechanics.The results show that the hydrodynamic forces make the finger deflect from the required trajectory,and these parameters must be considered in the dynamic motion control.

     

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