Design of the Underwater Selfreconfigurable Sampler Module

Journal of Shanghai Jiaotong University ›› 2012, Vol. 46 ›› Issue (09): 1376-1381.

• Automation Technique, Computer Technology • Previous Articles Next Articles

Design of the Underwater Selfreconfigurable Sampler Module

WU Xiao-Hui, GE Tong, LIU Jian-Min, ZHUANG Guang-Jiao, WU Chao

(School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China)

Received:2011-08-01 Online:2012-09-28 Published:2012-09-28

Abstract

Abstract: This paper introduced a sampler module used on the underwater selfreconfigurable engineering prototype and designed a new grabtype sampler module used on the underwater selfreconfigurable engineering prototype based on the underwater selfreconfigurable system (USS). Detailed introduction of the working principle, carry way and controlling principle for the sampler module were given, at the same time, work force situation were analyzed. Finally, reliability of the sampler module was proved through the test and analysis. Key words：

Key words: underwater self-reconfigurable, underwater sampler, grabtype, sampler module

WU Xiao-Hui, GE Tong, LIU Jian-Min, ZHUANG Guang-Jiao, WU Chao. Design of the Underwater Selfreconfigurable Sampler Module[J]. Journal of Shanghai Jiaotong University, 2012, 46(09): 1376-1381.

References

［1］赵杰，赵剑，张玉华，等. 一种模块化自重构机器人的设计与实现［J］. 机床与液压, 2007, 35 (3): 5153．
ZHAO Jie, ZHAO Jian, ZHANG Yuhua, et al. Design and realization of a modular selfreconfigurable robot ［J］. Machine Tool and Hydraulics, 2007, 35(3): 5153．
［2］葛彤，徐雪松，蔡少茹. 水下分散自重构系统设计［J］．机器人, 2004, 26(3): 232236．
GE Tong, XU Xuesong, CAI Shaoru. Design of a distributed selfreconfigurable underwater system ［J］. Robot, 2004, 26(3): 232236．
［3］高仁云，吴超，葛彤. 水下分散自重构机器人硬件设计［J］．机器人, 2007, 29(3): 239243．
GAO Renyun, WU Chao, GE Tong. Hardware design of an underwater selfreconfigurable robot ［J］. Robot, 2007, 29(3): 239243．
［4］赵杰，唐术锋，朱延河，等. 基于万向式关节的模块化自重构机器人［J］. 机器人, 2010, 32(5): 608613．
ZHAO Jie, TANG Shufeng, ZHU Yanhe, et al. A modular selfreconfigurable robot based on universal joint ［J］. Robot, 2010, 32(5): 608613．
［5］费燕琼，夏振兴，夏平. 自重构机器人的基本模块结构设计与分析［J］. 中国机械工程, 2007, 18(9): 10851088.
FEI Yanqiong, XIA Zhenxing, XIA Ping. Structural design and analysis of a module in selfreconfigurable robots ［J］. China Mechanical Engineering, 2007, 18(9): 10851088.
［6］鄢泰宁，补家武，李邵军. 浅析国外海底取样技术的现状及发展趋势［M］. 地质科技情报, 2000, 19(2): 6770.
YAN Taining, BU Jiawu, LI Shaojun. Brief study on the international present condition and developing tendency of the technology of sea floor sample drilling［J］. Geological Science and Technology Information, 2000, 19(2): 6770.
［7］包起帆，胡金汛. 货物抓斗与吊夹装置［M］．上海: 上海科学技术出版社, 2005．
［8］朱继懋．潜水器设计［M］．上海：上海交通大学出版社，1992．

[1]	WANG Xuyang,GE Tong,YANG Ke,WU Chao. Dynamic Modeling of Underwater Self-Reconfigurable Robot with Kane’s Method [J]. Journal of Shanghai Jiaotong University, 2013, 47(12): 1874-1880.
[2]	WU Chao,ZHUANG Guangjiao,LIU Jianmin,GE Tong,WU Xiaohui. A Novel Underwater Electromechanical Docking Technology for Underwater Self-reconfigurable Robot [J]. Journal of Shanghai Jiaotong University, 2013, 47(10): 1621-1625.
[3]	LI Jia-Wang, GE Tong, WU Chao, WANG Xu-Yang. Docking Control of Underwater Selfreconfigurable Robots [J]. Journal of Shanghai Jiaotong University, 2012, 46(02): 190-194.

Design of the Underwater Selfreconfigurable Sampler Module

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 3

Recommended Articles

Metrics

Comments