Optimal configuration and parametric design of an underwater vehicle manipulator system for a valve task

被引:16
作者
Bae, Jangho [1 ]
Bak, Jeongae [1 ]
Jin, Sangrok [2 ]
Seo, TaeWon [3 ]
Kim, Jongwon [1 ]
机构
[1] Seoul Natl Univ, Sch Mech & Aerosp Engn, Seoul 08826, South Korea
[2] Pusan Natl Univ, Dept Mech Engn, Pusan 46241, South Korea
[3] Hanyang Univ, Dept Mech Engn, Seoul 04762, South Korea
基金
新加坡国家研究基金会;
关键词
Underwater vehicle manipulator system; Manipulability; Underwater manipulator; Drag; Optimization; ROBOT;
D O I
10.1016/j.mechmachtheory.2018.01.014
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
An underwater vehicle manipulator system (UVMS) has several applications including mining, exploring, and building underwater structures. The current study presents a method to design and optimize an UVMS configuration by measuring the performance of various design alternatives. The concept of a dual-arm manipulator was proposed, and a design alternative was developed for the dual-arm manipulator. Additionally, modified dynamic manipulability that considers hydrodynamic effects was selected to measure the performance of design alternatives. Each alternative was optimized by using a genetic algorithm to maximize dynamic manipulability through a desired task. Optimized alternatives were compared, and the optimal design of a dual-arm manipulator was selected from the alternatives. The proposed method considered hydrodynamic effects on an UVMS to design and optimize a dual-arm UVMS. (C) 2018 Elsevier Ltd. All rights reserved.
引用
收藏
页码:76 / 88
页数:13
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