Full Text:   <476>

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On-line Access: 2023-11-13

Received: 2022-10-16

Revision Accepted: 2023-02-28

Crosschecked: 2023-11-14

Cited: 0

Clicked: 783

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Shizhen LI

https://orcid.org/0000-0003-2487-1807

Yugang REN

https://orcid.org/0000-0001-6867-6910

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Journal of Zhejiang University SCIENCE A 2023 Vol.24 No.11 P.937-948

http://doi.org/10.1631/jzus.A2200484


Core-drilling kinematic modeling and analysis of Jiaolong submersible manipulator


Author(s):  Xu YANG, Xin LIU, Shizhen LI, Yugang REN, Limin ZHU

Affiliation(s):  Institute of Marine Science and Technology, Shandong University, Qingdao 266237, China; more

Corresponding email(s):   kmlishizhen@126.com, ryg@ndsc.org.cn

Key Words:  Kinematic model, Core drilling, Jiaolong submersible manipulator, Uncertain posture


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Xu YANG, Xin LIU, Shizhen LI, Yugang REN, Limin ZHU. Core-drilling kinematic modeling and analysis of Jiaolong submersible manipulator[J]. Journal of Zhejiang University Science A, 2023, 24(11): 937-948.

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year="2023",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A2200484"
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DOI - 10.1631/jzus.A2200484


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

作者:杨旭1,刘鑫1,李世振1,任玉刚2,朱利民3
机构:1山东大学,海洋研究院,中国青岛,266237;2国家深海基地管理中心,中国青岛,266237;3上海交通大学,机械系统与振动国家重点实验室,中国上海,200240
目的:在具有不确定地形特点的深海环境下,基于蛟龙号载人深潜器机械臂开展重力沉积方向的岩芯取样作业是深海技术领域的一个重要挑战。本文旨在探讨蛟龙号载人深潜器机械臂岩芯取样的运动学特点,并提出实现蛟龙号载人深潜器机械臂岩芯取样作业的关节轨迹调控方法。
创新点:1.揭示蛟龙号载人深潜器可实现的岩芯取样作业空间;2.提出一种可完成重力沉积方向岩芯取样任务的机械臂关节轨迹设置方法。
方法:1.建立蛟龙号载人深潜器机械臂与深海地理环境间的姿态转换模型;2.建立机械臂操纵钻机实现重力方向岩芯取样的运动学正解与逆解模型;3.通过对机械臂第六主动关节的调节,实现岩芯钻机姿态的稳定保持;4.通过计算分析,揭示蛟龙号载人深潜器在不同坐地姿态下可实现的岩芯取样空间,并计算典型岩芯取样任务所需的机械臂关节轨迹。
结论:1.可以通过调节蛟龙号载人深潜器机械臂第六个主动关节,实现岩芯钻机作业姿态的稳定保持;2.基于蛟龙号载人深潜器机械臂的岩芯取样作业,可通过预设第二和第三主动关节轨迹并同时主动调节第一、第四、第五和第六主动关节轨迹来实现;3.蛟龙号载人深潜器水平坐地时,其岩芯取样作业空间类似椭球体:X方向的范围为-300.5~1847.0 mm,Y方向的范围为-1656.6~1656.6 mm,Z方向的范围为-2023.7~1133.9 mm。

关键词:蛟龙号载人深潜器;不确定姿态;岩芯取样;运动学模型

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