CLC number:
On-line Access: 2023-11-13
Received: 2022-10-16
Revision Accepted: 2023-02-28
Crosschecked: 2023-11-14
Cited: 0
Clicked: 1248
Citations: Bibtex RefMan EndNote GB/T7714
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.
@article{title="Core-drilling kinematic modeling and analysis of Jiaolong submersible manipulator",
author="Xu YANG, Xin LIU, Shizhen LI, Yugang REN, Limin ZHU",
journal="Journal of Zhejiang University Science A",
volume="24",
number="11",
pages="937-948",
year="2023",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A2200484"
}
%0 Journal Article
%T Core-drilling kinematic modeling and analysis of Jiaolong submersible manipulator
%A Xu YANG
%A Xin LIU
%A Shizhen LI
%A Yugang REN
%A Limin ZHU
%J Journal of Zhejiang University SCIENCE A
%V 24
%N 11
%P 937-948
%@ 1673-565X
%D 2023
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2200484
TY - JOUR
T1 - Core-drilling kinematic modeling and analysis of Jiaolong submersible manipulator
A1 - Xu YANG
A1 - Xin LIU
A1 - Shizhen LI
A1 - Yugang REN
A1 - Limin ZHU
J0 - Journal of Zhejiang University Science A
VL - 24
IS - 11
SP - 937
EP - 948
%@ 1673-565X
Y1 - 2023
PB - Zhejiang University Press & Springer
ER -
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.
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