New areas of application of the Poisk-2 bathyscaph manipulator device

Authors: Grigoriev A.S.
Published in issue: #6(35)/2019
DOI: 10.18698/2541-8009-2019-6-487
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: underwater robotics, manipulator, control system, kinematics, electro-hydraulic drive, transformation matrix, model, automatic control
Published: 06.06.2019

This article is devoted to the use of electro-hydraulic manipulator systems from the Poisk-2 unmanned underwater vehicle for a project on the extraction of polymetallic ores in deep water. Existing technologies in this area are described, their advantages and disadvantages are analyzed. The article proposes the idea for a more rational composition of the underwater vehicle, in which it would be necessary to apply modernized manipulator systems, for which they should have a combined remote-automatic control. To develop the design of the new manipulator, the inverse problem of kinematics was solved, a functional diagram of the operation of the new control system. The paper presents the description of its work and main characteristics, as well as a model of the movement of control objects, including physical bodies, executive hydraulic actuators and control laws.

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