Underwater dual manipulators-Part Ⅱ: Kinematics analysis and numerical simulation

摘要

This paper introduces dual-arm underwater manipulators mounted on an autonomous underwater vehicle (AUV), which can accomplish the underwater handling task. Firstly, the mechanical structure of the dual-arm system is briefly introduced, wherein each 4-DOF manipulator has an additional grasping function. In addition, the kinematics model of the manipulator is derived by using the improved D-H method. Secondly, the working space of the underwater dual-arm system is analyzed, which is obtained by using Monte Carlo method. The cubic polynomial interpolation and the five polynomial interpolation trajectory planning methods are compared in the joint space. Finally, with the help of the Robotics Toolbox software, the numerical test is conducted to verify the functions of the underwater dual-arm manipulator system.