Configuration Synthesis of Actuators for Underwater Vehicles<italic style="font-style: italic">'</italic>  Receiving and Placing System

Jiang Mingyang; Liu Hailong; Guo Chuandong; Chen Depeng; Zhang Lin

doi:10.16578/j.issn.1004.2539.2024.07.005

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Configuration Synthesis of Actuators for Underwater Vehicles' Receiving and Placing System

Theory·Research | 更新时间：2024-07-22

- Configuration Synthesis of Actuators for Underwater Vehicles' Receiving and Placing System
- Journal of Mechanical Transmission Vol. 48, Issue 7, Pages: 40-48(2024)
- 作者机构：
  
  1.山东交通学院工程机械学院，山东济南 250357
  2.山东天意机械股份有限公司，山东济宁 272100
  3.山东省交通建设装备与智能控制工程实验室，山东济南 250357
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.07.005
  CLC：
- Published：15 July 2024，
  
  Received：24 March 2023，
- 稿件说明：
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姜明阳,刘海龙,郭川东等.水下机器人收放系统执行机构构型综合研究[J].机械传动,2024,48(07):40-48.

Jiang Mingyang,Liu Hailong,Guo Chuandong,et al.Configuration Synthesis of Actuators for Underwater Vehicles' Receiving and Placing System[J].Journal of Mechanical Transmission,2024,48(07):40-48.
姜明阳,刘海龙,郭川东等.水下机器人收放系统执行机构构型综合研究[J].机械传动,2024,48(07):40-48. DOI： 10.16578/j.issn.1004.2539.2024.07.005.

Jiang Mingyang,Liu Hailong,Guo Chuandong,et al.Configuration Synthesis of Actuators for Underwater Vehicles' Receiving and Placing System[J].Journal of Mechanical Transmission,2024,48(07):40-48. DOI： 10.16578/j.issn.1004.2539.2024.07.005.

摘要

针对现有水下机器人收放系统存在结构形式单一、转运范围受限的问题，借助图论相关理论，进行收放系统执行机构构型综合研究，最终建立了14种收放系统执行机构构型图库。首先，基于胚图插点法进行平面九杆单铰机构类型综合，得到40种单色拓扑图谱；其次，基于40种单色拓扑图谱提出一种平面九杆仅含单个复铰机构类型综合方法，通过单色拓扑图谱转化及其特定标记并按一定规则生成复铰机构特征数组，进而基于特征数组实现机构同构判断及其消极子链识别，得到83种双色拓扑图谱；然后，基于平面九杆单、双色拓扑图谱，结合收放系统工作特点，提出6条收放系统执行机构构型筛选条件，筛选得到71种可行构型；最后，基于71种可行构型，综合考虑机构控制、造价、美观问题，提出3条构型优选准则，最终得到14种最佳构型，并选取1种最佳构型进行了运动仿真分析。结果表明，新型收放系统执行机构满足工况要求，末端集成吊具能够实现远近位移及精确定位，机构构型设计的合理性得到验证。

Abstract

Aiming at the problems of single structure form and limited transporting range of existing underwater vehicles

receiving and placing system

this study carries out comprehensive research on actuator configuration of the receiving and placing system with the help of relevant graph theory

and finally establishes 14 actuator configuration libraries of the receiving and placing system. Firstly

the types of the planar nine-bar single-hinge mechanism are synthesized based on the method of blastogram insertion

and 40 kinds of monochrome topological maps are obtained. Secondly

based on 40 kinds of monochrome topological maps

a method for synthesizing planar nine-bar mechanism with only one type of complex hinge mechanism is proposed. By transforming the monochrome topological map and its specific markings

and generating feature array of the complex hinge mechanism according to certain rules

the mechanism isomorphism judgment and negative sub-link recognition are realized based on the feature array

and 83 kinds of bi-color topological maps are obtained. Then

based on the flat nine-bar single-color and two-color topological map and combining the operating characteristics of the collection system

six configuration screening conditions for the implementation mechanism of the collection system are proposed and 71 feasible configurations are selected. Finally

based on 71 feasible configurations and considering mechanism control

cost and aesthetics comprehensively

three configuration optimization criteria are proposed

and 14 optimal configurations are finally obtained. An optimum configuration is selected for motion simulation analysis. The results show that the actuator of the new placing system meets the operating conditions

the end integrated hoist can achieve far and near displacement and accurate positioning

and the rationality of the mechanism configuration design is verified.

关键词

图论复铰构型综合收放系统水下机器人

Keywords

Graph theoryMultiple gemelConfiguration synthesisReceiving and placing systemUnderwater vehicle

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Related Author

Zhang Lin

Chen Depeng

Guo Chuandong

Jiang Mingyang

Liu Hailong

Feng Xiaodong

Li Yanlong

Ning Fengping

Related Institution

School of Construction Machinery， Shandong Jiaotong University

Shandong Tianyi Machinery Co.， Ltd.

School of Mechanical Engineering, North University of China

School of Mechatronics & Vehicle Engineering， Chongqing Jiaotong University

School of Mechanical Engineering,Northwest Polytechnical University

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Configuration Synthesis of Actuators for Underwater Vehicles' Receiving and Placing System

DOI：10.16578/j.issn.1004.2539.2024.07.005

摘要

Abstract

关键词

Keywords

references