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提出一种模块化的小型水下作业机器人。将控制系统、推进系统、信号转换系统、全方位观测系统以及五功能电动机械手设计成独立模块。模块合理布局于机器人主框架上,模块间通过水密连接器连接,可根据不同需求调整搭载设备,快速构建出应用于不同场合的水下机器人。采用这种模块化设计方法实现了机器人设计的简单化和通用化,提高了功能上的灵活性。
A modular small underwater robot is proposed. The control system, propulsion system, signal conversion system, omni-directional observation system and five-functional electric manipulator designed as a separate module. The module is reasonably arranged on the main frame of the robot, and the modules are connected by a water-tight connector. The equipment can be adjusted according to different requirements and the underwater robot used for different occasions can be rapidly constructed. Using this modular design method to achieve a simplified robot design and common, improve the functional flexibility.