Underwater Robotic Arm Test Platform

DOI

10.2991/pntim-19.2019.29How to use a DOI?

Keywords

Underwater Robot Arm; Test Platform; Motor; Finite Element Analysis

Abstract

For the problem that the mechanical arm is unstable under water and the position accuracy is low. This paper designed an underwater manipulator test platform. Good attitude control and high grip accuracy can be achieved. Through the analysis of the mechanical body, the overall structural layout of the mechanical arm and the hardware control of the mechanical arm are determined. Considering the working requirements of the test platform is to meet the load-bearing weight of 30kg, the operating range is not less than 400mm, etc., and design a motor suitable for this platform. Finally, stress simulation and finite element analysis of the load-bearing parts (U-shaped plate) of the platform are carried out. The results show that the maximum displacement of the U-shaped bottom plate is located in the middle of the bottom plate, which is approximately 4.553e-0.002mm. The maximum stress is 1.505e+0.007N/m^2. The yield stress of the material is 6.204e+0.008N/m^2, which satisfies the requirement of yield stress. Prove that the design is reasonable.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Tian Junwei
AU  - Huang Shuzhao
AU  - Wang Qin
AU  - Zhao Xuehang
PY  - 2019/11
DA  - 2019/11
TI  - Underwater Robotic Arm Test Platform
BT  - Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)
PB  - Atlantis Press
SP  - 139
EP  - 143
SN  - 2589-4943
UR  - https://doi.org/10.2991/pntim-19.2019.29
DO  - 10.2991/pntim-19.2019.29
ID  - Junwei2019/11
ER  -