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

被引：17

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

来源：

MECHANISM AND MACHINE THEORY | 2018年 / 123卷

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

页码：76 / 88

页数：13

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