Development of A Deep Ocean Electric Autonomous Manipulator

This paper describes an underwater 3500 m electric manipulator （named Huahai-4E, stands for four functions deep ocean electric manipulator in China）, which has been developed at underwater manipulation technology lab in Huazhong University of Science and Technology （HUST） for a test bed of studying...

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Bibliographic Details
Published in:China ocean engineering 2011-01, Vol.25 (1), p.159-168
Main Author: 肖治琥 徐国华 彭复员 唐国元 申雄 杨波
Format: Article
Language:English
Subjects:
Autonomous
Coastal Sciences
Control systems
Engineering
Fluid- and Aerodynamics
Manipulators
Marine
Marine & Freshwater Sciences
Numerical and Computational Physics
Oceanography
Oceans
Offshore Engineering
Personal computers
Robot arms
Sensors
Simulation
Underwater
VxWorks操作系统
传感器系统
华中科技大学
嵌入式PC/104
机器人
用户数据报协议
结构控制系统
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Summary:This paper describes an underwater 3500 m electric manipulator （named Huahai-4E, stands for four functions deep ocean electric manipulator in China）, which has been developed at underwater manipulation technology lab in Huazhong University of Science and Technology （HUST） for a test bed of studying of deep ocean manipulation technologies. The manipulator features modular integration joints, and layered architecture control system. The oil-filled, pressure-compensated joint is compactly designed and integrated of a permanent magnet （PM） brushless motor, a drive circuit, a harmonic gear and an angular feedback potentiometer. The underwater control system is based on a network and consisted of three embedded PC/104 computers which are used for servo control, task plan and target sensor respectively. They communicate through User Datagram Protocol （UDP） multicast communication in Vxworks OS. A supervisor PC with a virtual 3D GUI is fiber linked to underwater control system. Furthermore, the manipulator is equipped with a sensor system including a unique ultra-sonic probe array and an underwater camera. Autonomous grasp strategy based multi-sensor is studied. The results of watertight test in 40 MPa, joint＇s efficiency test and autonomous grasp experiments in tank are also presented.
ISSN:0890-5487
2191-8945
DOI:10.1007/s13344-011-0014-9