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Abstract: The complicated topographies of the deep sea pose significant challenges for the core drilling with the jiaolong submersible manipulator. To address this problem, we proposed a core-drilling kinematic model and evaluated the core-drilling behavior of the submersible manipulator by comprehensively considering the uncertain posture of the Jiaolong submersible. First, we established a forward kinematic model for the core-drilling task in deep sea, which satisfied the requirement of gravitational-direction core drilling. Based on the forward kinematic equations, we then built a double-redundancy inverse kinematic model, which was able to determine the required motion trajectories of six active joints according to the desired core-drilling trajectory. The core-drilling workspaces and the motions of the jiaolong submersible manipulator were assessed with several calculation examples. The established forward and inverse kinematic models are constructed with clear analytic equations, and thus are directly applicable to the jiaolong submersible manipulator-based core-drilling task.

蛟龙号载人深潜器机械臂岩芯取样运动学建模与分析

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