Dexterity Based Viscous Resistance Optimization of a Deep-Sea Manipulator

Abstract

With persistent ocean exploration, the complexity of deep-sea intervention is gradually increasing. The deep-sea manipulator is the primary tool to complete complex intervention. The manipulator dexterity determines the complexity of the task it can perform. First, a dynamic dexterity evaluation method is proposed based on the kinematics and dynamics characteristics of the deep-sea manipulator. This method takes into account the dynamic torque boundary and Jacobian mapping constraint, which are different from terrestrial manipulators. The concepts of the dynamic dexterity ellipsoid and dynamic dexterity measure are defined. Second, the effect of viscosity resistance on dexterity is analyzed. The viscosity resistance is optimized by selecting the most suitable compensation oil. Finally, the methods of dynamic dexterity evaluation and viscosity resistance optimization are verified by a simulated deep-sea experiment. The method proposed in this paper effectively improves the dynamic dexterity of the deep-sea manipulator by optimizing the viscosity resistance. The proposed method can also be used to evaluate and improve the dexterity of other underwater manipulators.