Full Text:   <917>

Summary:  <274>

CLC number: 

On-line Access: 2024-08-27

Received: 2023-10-17

Revision Accepted: 2024-05-08

Crosschecked: 2024-03-13

Cited: 0

Clicked: 1246

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Jia-wang CHEN

https://orcid.org/0000-0002-6351-0062

Xiaohui HU

https://orcid.org/0000-0002-3974-6008

-   Go to

Article info.
Open peer comments

Journal of Zhejiang University SCIENCE A 2024 Vol.25 No.3 P.238-250

http://doi.org/10.1631/jzus.A2200621


Development of underwater electric manipulator based on interventional autonomous underwater vehicle (AUV)


Author(s):  Xiaohui HU, Jiawang CHEN, Hang ZHOU, Ziqiang REN

Affiliation(s):  Ocean college, Zhejiang University, Zhoushan 316021, China; more

Corresponding email(s):   arwang@zju.edu.cn

Key Words:  Underwater electric manipulator, Inverse kinematics, Trajectory planning, Trajectory tracking accuracy


Xiaohui HU, Jiawang CHEN, Hang ZHOU, Ziqiang REN. Development of underwater electric manipulator based on interventional autonomous underwater vehicle (AUV)[J]. Journal of Zhejiang University Science A, 2024, 25(3): 238-250.

@article{title="Development of underwater electric manipulator based on interventional autonomous underwater vehicle (AUV)",
author="Xiaohui HU, Jiawang CHEN, Hang ZHOU, Ziqiang REN",
journal="Journal of Zhejiang University Science A",
volume="25",
number="3",
pages="238-250",
year="2024",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A2200621"
}

%0 Journal Article
%T Development of underwater electric manipulator based on interventional autonomous underwater vehicle (AUV)
%A Xiaohui HU
%A Jiawang CHEN
%A Hang ZHOU
%A Ziqiang REN
%J Journal of Zhejiang University SCIENCE A
%V 25
%N 3
%P 238-250
%@ 1673-565X
%D 2024
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2200621

TY - JOUR
T1 - Development of underwater electric manipulator based on interventional autonomous underwater vehicle (AUV)
A1 - Xiaohui HU
A1 - Jiawang CHEN
A1 - Hang ZHOU
A1 - Ziqiang REN
J0 - Journal of Zhejiang University Science A
VL - 25
IS - 3
SP - 238
EP - 250
%@ 1673-565X
Y1 - 2024
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2200621


Abstract: 
In applications such as marine rescue, marine science, archaeology, and offshore industries, autonomous underwater vehicles (AUVs) are frequently used for survey missions and monitoring tasks, with most operations being performed by manned submersibles or remotely operated vehicles (ROVs) equipped with robotic arms, as they can be operated remotely for days without problems. However, they require expensive marine vessels and specialist pilots to operate them. Scientists exploring oceans are no longer satisfied with the use of manned submersibles and ROVs. There is a growing desire for seabed exploration to be performed using smarter, more flexible, and automated equipment. By improving the field operation and intervention capability of AUVs, large-scale and long-range seafloor exploration and sampling can be performed without the support of a mother ship, making it a more effective, economical, convenient, and rapid means of seafloor exploration and sampling operations, and playing a critical role in marine resource exploration. In this study, we explored the integration technology of underwater electric robotic arms and AUVs and designed a new set of electric manipulators suitable for water depths greater than 500 m. The reliability of the key components was analyzed by finite element analysis and, based on the theory of robot kinematics and dynamics, simulations were performed to verify the reliability of the key components. Experiments were conducted on land and underwater, trajectory tracking experiments were completed, and the experimental data in air and water were compared and analyzed. Finally, the objectives for further research on the autonomous control of the manipulator underwater were proposed.

应用于作业式水下自主潜航器的水下电动机械手研发

作者:胡晓辉1,2,陈家旺1,2,3,周航1,2,任自强1,2
机构:1浙江大学,海洋学院,中国舟山,316000;2浙江大学海南研究院,中国三亚,572000;3教育部海洋传感技术与装备工程研究中心,中国舟山,316021
目的:1.以水下轻量化水下电动机械臂为研究对象,探索水下电动机械臂和自主水下航行器(AUV)的集成技术,设计一套全新的适用于500m以上水深的水下机械臂。2.提高AUV的现场操作干预能力和自主作业能力,为海底探测取样作业提供更加有效、经济、方便、快速的手段,在海洋资源探测中发挥更大的作用。
创新点:1.以水下轻量化水下电动机械臂为研究对象,探索水下电动机械臂和AUV的集成技术,设计了一款全新的适应AUV搭载的水下电动机械手。2.该水下电动机械手的密封方式借鉴了深海液压系统的工作原理,采用压力补偿的方式提升电动机械手本身的耐压性和防水性,提升了电动机械手的适用水深和水下工作的可靠性。
方法:1.基于机器人运动学与动力学理论,进行仿真验证,并搭建水下电动机械手实验平台。2.进行陆上和水下的实验,完成轨迹的跟踪实验,并对水上水下和仿真实验的数据进行对比分析,得到水下电动机械手的轨迹跟踪精度,以验证该机械手的运行精度。
结论:1.在匀加速/减速过程中,机械手关节的运行更加稳定;在从匀减速到停止的过渡阶段有微量的过冲;在匀速运动过程中,关节角度跟踪不稳定,从波动幅度来看,误差范围约为0.01 rad。2.通过进一步分析机械手致动器的运动轨迹误差可以得出,机械手在空气中的绝对跟踪误差峰值约为18 mm,而在水下约为14 mm;机械手在水下的末端运动精度比在水中高,匀速时产生的振动幅度也比在空气中小得多。3.要提高机械臂系统的性能,需要设计更精确的控制系统;进行流体力学分析,还需要搭载配备视觉系统的AUV,以便在水下环境和实际海洋环境中进行下一步的自主操作实验。

关键词:水下电动操纵器;逆运动学;轨迹规划;轨迹跟踪精度

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

[1]BarbieriL, BrunoF, GalloA, et al., 2018. Design, prototyping and testing of a modular small-sized underwater robotic arm controlled through a master-slave approach. Ocean Engineering, 158:253-262.

[2]EvansJ, RedmondP, PlakasC, et al., 2003. Autonomous docking for intervention-AUVs using sonar and video-based real-time 3D pose estimation. Oceans 2003. Celebrating the Past ... Teaming Toward the Future, p.2201-2210.

[3]EvansJC, KellerKM, SmithJS, et al., 2001. Docking techniques and evaluation trials of the SWIMMER AUV: an autonomous deployment AUV for work-class ROVs. MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings, p.520-528.

[4]FernandezJJ, PratsM, SanzPJ, et al., 2013. Grasping for the seabed: developing a new underwater robot arm for shallow-water intervention. IEEE Robotics & Automation Magazine, 20(4):121-130.

[5]FernandoS, PereraM, 2022. Development of an underwater robotic arm using multibody dynamics approach. Vibroengineering PROCEDIA, 40:120-125.

[6]HanJ, ChungWK, 2008. Coordinated motion control of underwater vehicle-manipulator system with minimizing restoring moments. IEEE/RSJ International Conference on Intelligent Robots and Systems, p.3158-3163.

[7]LeonessaA, 2008. Underwater robots: motion and force control of vehicle-manipulator systems (G. Antonelli; 2006) [book review]. IEEE Control Systems Magazine, 28(5):138-139.

[8]MaraniG, ChoiSK, YuhJ, 2009. Underwater autonomous manipulation for intervention missions AUVs. Ocean Engineering, 36(1):15-23.

[9]PaullL, SaeediS, SetoM, et al., 2014. AUV navigation and localization: a review. IEEE Journal of Oceanic Engineering, 39(1):131-149.

[10]RidaoP, CarrerasM, RibasD, et al., 2015. Intervention AUVs: the next challenge. Annual Reviews in Control, 40:‍227-241.

[11]RigaudV, Coste-ManiereE, AldonMJ, et al., 1998. UNION: underwater intelligent operation and navigation. IEEE Robotics & Automation Magazine, 5(1):25-35.

[12]SekkatH, TiganiS, SaadaneR, et al., 2021. Vision-based robotic arm control algorithm using deep reinforcement learning for autonomous objects grasping. Applied Sciences, 11(17):7917.

[13]SimettiE, CasalinoG, 2017. Manipulation and transportation with cooperative underwater vehicle manipulator systems. IEEE Journal of Oceanic Engineering, 42(4):782-799.

[14]SimettiE, CasalinoG, TorelliS, et al., 2014. Floating underwater manipulation: developed control methodology and experimental validation within the trident project. Journal of Field Robotics, 31(3):364-385.

[15]SimettiE, WanderlinghF, TorelliS, et al., 2018. Autonomous underwater intervention: experimental results of the maris project. IEEE Journal of Oceanic Engineering, 43(3):620-639.

[16]SpennebergD, AlbiezJ, KirchnerF, et al., 2007. C-manipulator: an autonomous dual manipulator project for underwater inspection and maintenance. Proceedings of the 26th International Conference on Offshore Mechanics and Arctic Engineering, p.437-443.

[17]TarnTJ, ShoultsGA, YangSP, 1996. A dynamic model of an underwater vehicle with a robotic manipulator using Kane’s method. Autonomous Robots, 3(2):269-283.

[18]YouakimD, CieslakP, DornbushA, et al., 2020. Multirepresentation, multiheuristic A* search-based motion planning for a free-floating underwater vehicle-manipulator system in unknown environment. Journal of Field Robotics, 37(6):925-950.

Open peer comments: Debate/Discuss/Question/Opinion

<1>

Please provide your name, email address and a comment





Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - 2024 Journal of Zhejiang University-SCIENCE