CN106428494B - A kind of underwater vector propeller based on space parallel mechanism - Google Patents
A kind of underwater vector propeller based on space parallel mechanism Download PDFInfo
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- CN106428494B CN106428494B CN201610929479.6A CN201610929479A CN106428494B CN 106428494 B CN106428494 B CN 106428494B CN 201610929479 A CN201610929479 A CN 201610929479A CN 106428494 B CN106428494 B CN 106428494B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
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Abstract
A kind of underwater vector propeller based on space parallel mechanism belongs to underwater navigation and detection technology field, it is therefore intended that solves the problems, such as that thrust vectoring degree of the existing technology is low, underwater robot flexibility is poor, complicated, weight is big, of high cost and be unfavorable for maintenance.The present invention includes：3 PSS/S space parallel mechanisms, by intermediate ball-type hinge connection, three symmetrically arranged PSS movement branched chains are supported between moving platform and silent flatform the moving platform and silent flatform of 3 PSS/S space parallel mechanisms；PSS movement branched chains include transmission shaft, movable block, screw pair and servo motor, transmission shaft one end is connected by hinge with the lower face of moving platform, the other end is connected by hinge with movable block, movable block is fixedly connected with the nut in screw pair, and servo motor output shaft is fixedly connected with the input shaft of screw pair；With the propeller being arranged on moving platform, the propeller and a direct-drive type underwater propulsion motor connection.
Description
Technical field
The invention belongs to underwater navigation and detection technology fields, and in particular to a kind of underwater arrow based on space parallel mechanism
Measure propeller.
Background technology
Currently, with the high speed development of science and technology, people are more and more perfect for the exploitation on land, various infrastructure
It is more and more universal, it may be said that land for the mankind can Exploitation degree it is smaller and smaller.However occupy ground sphere area nearly three/
Two ocean is but wrapped in mystery the same presence.The mankind will continue to develop, and be hidden in the deep-sea to be sought that is bound to various
Secret.Seabed is richly stored with mineral resources, oil, and natural gas and various rare ores are the objects that state must strive with state.
So more and more countries have started seafari work, corresponding conference organisations have been set up, various ocean has been had developed and visits
Survey instrument and equipment.Therefore marine exploration equipment, such as ship, submarine, torpedo, underwater robot also appear in the visual field of people
In.
As the application of the development of seafaring, ship, submarine, the equipment such as underwater robot is also more and more extensive, however
Vector Push Technology is the technology that these equipment are difficult to capture always.Currently, ship, submarine, AUV (cableless underwater robot) etc.
Equipment majority is all using propeller as pushing meanss.Rotation paddle rotation makes flow generate the movement of rotation backward, and this rotation is backward
The velocity component that the flow of movement is only parallel to paddle shaft direction could generate effective push to submarine navigation device, with flow
Extended corner is big, volume is inhaled and mixing capacity is very strong, has the weak characteristics such as recirculating zone together, thus greatly reduces it and promote effect
Rate.Thrust vectoring degree is low, and especially when aircraft is turned, its thrust can be lost.
In addition, seabed situation is complicated and changeable, need to cope with many emergency situations.The mobility of underwater robot should fit
This dangerously steep situation is answered, so underwater robot should can be completed to advance, retreats, hovers, yaw, pivot turn and vertical
The functions such as lifting.But for now, most of underwater robot does not have this technology.Underwater robot will turn
Curved, the rudder that just must simultaneously transfer on horizontal tail and vertical tail, both direction is controlled, and flexibility is significantly limited.
Currently, some underwater robots are installed multiple propellers in robot and are pushed away to realize the function of vector propulsion
Into device, although also can more or less realize the effect that vector promotes in this way, the complexity of robot is increased, is also increased
Weight and cost cause to waste when not working, and are unfavorable for overhauling.
Invention content
It is an object of the invention to propose a kind of underwater vector propeller based on space parallel mechanism, the prior art is solved
Existing thrust vectoring degree is low, underwater robot flexibility is poor, complicated, weight is big, of high cost and be unfavorable for overhauling
The problem of, realize the slow-speed of revolution steering behaviour of AUV.
To achieve the above object, a kind of underwater vector propeller based on space parallel mechanism of the invention includes：
3-PSS/S space parallel mechanisms, the 3-PSS/S space parallel mechanisms include silent flatform, PSS movement branched chains, in
Between ball-type hinge and moving platform；The moving platform and silent flatform pass through intermediate ball-type hinge connection, three symmetrically arranged PSS fortune
Dynamic branch is supported between the moving platform and silent flatform；The PSS movement branched chains include transmission shaft, movable block, feed screw nut
Secondary and servo motor, described transmission shaft one end connects by hinge with the lower face of the moving platform, the other end by hinge with
Movable block connects, and the movable block is fixedly connected with the nut in the screw pair, the servo motor output shaft and institute
The input shaft for stating screw pair is fixedly connected；
With the propeller being arranged on the moving platform, the propeller and a direct-drive type underwater propulsion motor connection.
The intermediate ball-type hinge includes ball rod, more ear ball lids, ball seat, bearing and center stand column；More ear ball lids
It is connected with the ball seat by screw, the bulb of the ball rod is arranged in more ear ball lids, and the ball seat lower end passes through
Bearing is connected with described center stand column one end, and the other end of center stand column is connected by screw thread with silent flatform.
The underwater vector propeller further includes two level steering mechanism, and the two level steering mechanism includes telescope support and straight
Line motor, multiple telescope supports are arranged in parallel, and one end of telescope support is connected with moving platform upper surface, the other end and spiral
Paddle connects, each telescope support and a linear motor connection.
The transmission shaft of three PSS movement branched chains is substantially symmetrical about its central axis about intermediate ball-type hinge, three PSS movement branched chains
Screw pair circumference uniform distribution；
Described transmission shaft one end is connected by hinge with the lower face of the moving platform, and the other end passes through hinge and movable block
Hinge in connection is specially Hooke's hinge.
The screw pair is obliquely installed, and one end is connected with silent flatform upper surface, the other end and intermediate ball-type hinge
Center stand column connects, and lower part is supported using trapezoidal pylon structure.
Beneficial effects of the present invention are：A kind of underwater vector propeller based on space parallel mechanism of the present invention uses 3-
PSS/S space parallel mechanisms, simple in structure, flexibility is strong, is swift in response, and can be made quickly according to the landform of sea bottom complex
Reaction.
Anti- water propeller is directly placed in moving platform, the complicated waterproof sealing structure of design is not required to, to solve because close
Some security risks that envelope leakage problem may be brought.
The servo motor of 3 independent controls is installed, using uniformly raising, the control mode individually controlled greatly carries
The high rapidity and accuracy of reaction reduces the reaction time and increases the safety of whole equipment.
In use, silent flatform is fixed on underwater robot, propeller is placed on tiltable moving platform, edge is enabled
Different directions provide power, evaded traditional propeller can only linear advancement the shortcomings that, so as to complete to hover, yaw is former
Ground is turned and the functions such as vertical lift.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of underwater vector propeller based on space parallel mechanism of the present invention；
Fig. 2 shows for intermediate ball-type hinge arrangement in a kind of underwater vector propeller based on space parallel mechanism of the present invention
It is intended to；
Fig. 3 is 3-PSS/S space parallel mechanism schematic diagrams；
Fig. 4 shows to realize that moving platform is inclined in a kind of underwater vector propeller based on space parallel mechanism of the present invention
It is intended to；
Wherein：1,3-PSS/S space parallel mechanisms, 101, silent flatform, 102, PSS movement branched chains, 1021, transmission shaft,
1022, movable block, 1023, screw pair, 1024, servo motor, 103, intermediate ball-type hinge, 1031, ball rod, 1032,
More ear ball lids, 1033, ball seat, 1034, bearing, 1035, center stand column, 104, moving platform, 2, propeller, 3, direct-drive type pushes away under water
Stepper motor, 4, two level steering mechanism, 401, telescope support, 402, linear motor.
Specific implementation mode
Embodiments of the present invention are described further below in conjunction with the accompanying drawings.
Referring to attached drawing 1 and attached drawing 2, a kind of underwater vector propeller based on space parallel mechanism of the invention includes：
3-PSS/S space parallel mechanisms 1, the 3-PSS/S space parallel mechanisms 1 include silent flatform 101, PSS movement branch
Chain 102, intermediate ball-type hinge 103 and moving platform 104；The moving platform 104 and silent flatform 101 pass through intermediate ball-type hinge 103
Connection, three symmetrically arranged PSS movement branched chains 102 are supported between the moving platform 104 and silent flatform 101；The PSS fortune
Dynamic branch 102 includes transmission shaft 1021, movable block 1022, screw pair 1023 and servo motor 1024, the transmission shaft
1021 one end are connected by hinge with the lower face of the moving platform 104, and the other end is connected by hinge and movable block 1022, institute
It states movable block 1022 to be fixedly connected with the nut in the screw pair 1023,1024 output shaft of the servo motor and described
The input shaft of screw pair 1023 is fixedly connected；When moving platform 104 needs to tilt to a direction, first by computer meter
The amount of movement completed needed for each PSS movement branched chain 102 is calculated, each is then calculated according to the amount of movement calculated
Pulse number either conduction time needed for 102 place servo motor 1024 of PSS movement branched chains, corresponding pulse is exported immediately
Signal encourages corresponding servo motor 1024, servo motor 1024 to drive leading screw to move in a circle around axis under excitation, leading screw
The movable block 1022 of connection also moves corresponding amount of movement by the effect of screw pair 1023.Due to the shifting of movable block 1022
It is dynamic so that the spherical pair representated by the Hooke's hinge between movable block 1022 and transmission shaft 1021 occurs one and correspondingly rotates angle
Degree.Due to being also to be hinged by Hooke between transmission shaft 1021 and moving platform 104, the rotation of transmission shaft 1021 is finally reflected
Moving platform 104 at it in the rotation of intermediate spherical pair.Then the inclination of moving platform 104 is realized.By coordinating moving platform
104 3 PSS movement branched chains 102 tilt quantity, you can realize the vector quantization of thrust power；
With the propeller 2 being arranged on the moving platform 104, the propeller 2 and a direct-drive type underwater propulsion motor 3
Connection；Direct-drive type underwater propulsion motor 3 fills encapsulation process using envelope, and the rotor of direct-drive type underwater propulsion motor 3 all fills glue
Water, stator also fill marine glue, realize that envelope fills sealing waterproof.
The intermediate ball-type hinge 103 include ball rod 1031, more ear ball lids 1032, ball seat 1033, bearing 1034 and in
Heart column 1035；More ear ball lids 1032 are connected by screw and the ball seat 1033, and the bulb of the ball rod 1031 is set
It sets in more ear ball lids 1032,1033 lower end of the ball seat is connected by bearing 1034 and 1035 one end of the center stand column
It connects, the other end of center stand column 1035 is connected by screw thread and silent flatform 101.Pass through screw thread and center stand column on silent flatform 101
1035 connections ensure that ball seat 1033 can be around center stand column between center stand column 1035 and ball seat 1033 by a bearing 1034
1035 axis rotates.A circular space is formd between ball seat 1033 and more ear ball lids 1032, with ball rod
1031 constitute spherical rotation pair.For general spherical pair since its structure limits, full swing angle is usually no more than 45 degree.And due to
The present invention is using more ear ball lids 1032, so the swing angle of ball rod 1031 can be increased, make its swing reach 50 to
60 degree.Ball rod 1031 is connected with 104 center of moving platform, under the action of PSS movement branched chains 102, moving platform 104 only around
The sphere centre of ball-type hinge moves.The main function of intermediate ball-type hinge 103 is support moving platform 104 and provides one 3
The constraint of degree of freedom.The intermediate ball-type hinge 103, increases the swing angle of moving platform 104, strengthens to moving platform 104
Supporting role.
The underwater vector propeller further includes two level steering mechanism 4, and the two level steering mechanism 4 includes telescope support
401 and linear motor 402, multiple telescope supports 401 be arranged in parallel, 104 upper end of one end and moving platform of telescope support 401
Face connects, and the other end and propeller 2 connect, and each telescope support 401 and a linear motor 402 connect.Linear motor 402 can
To directly drive.When controlling signal input linear motor 402, telescope support 401 does straight line under the action of linear motor 402
Movement so that 2 place plane of propeller is tilted a certain angle, that is, the two level for realizing vector propulsion turns to inclination.
1 collective effect of two level steering mechanism 4 and 3-PSS/S space parallel mechanisms, can make waterproof screw propeller 2 incline
Tiltedly certain angle, to increase the inclination angle of vector propeller.
The transmission shaft 1021 of three PSS movement branched chains 102 is about the substantially symmetrical about its central axis of intermediate ball-type hinge 103, three PSS
1023 circumference uniform distribution of screw pair of movement branched chain 102；
1021 one end of the transmission shaft is connected by hinge with the lower face of the moving platform 104, and the other end passes through hinge
Hinge in being connected with movable block 1022 is specially Hooke's hinge.
The screw pair 1023 is obliquely installed, and one end is connected with 101 upper surface of silent flatform, the other end and intermediate ball-type
The center stand column 1035 of hinge 103 connects, and lower part is supported using trapezoidal pylon structure.So that propeller structure is more stablized, just
In regulation and control.
Referring to attached drawing 3,3-PSS/S space parallel mechanisms 1, mainly by silent flatform 101 and moving platform 104, and its between
Three symmetrical PSS movement branched chains 102 and an intermediate ball-type hinge S composition, silent flatform 101 is by equilateral triangle for C1C2C3
It indicates, center C0, moving platform 104 is by equilateral triangle B1B2B3It indicates, center B0, in intermediate ball-type hinge 103
Between the centre of sphere of spherical pair be O, the i.e. center of rotation of mechanism, with B0It overlaps.Due to PSS movement branched chains 102 to the movement of mechanism not
Constraint is generated, the motion conditions of mechanism are only dependent upon intermediate ball-type hinge S, so there are three around mechanism center of rotation to turn for it
Dynamic degree of freedom, therefore any point on the moving platform 104 of mechanism is all constrained on the center of rotation of mechanism to the spherical surface of the point
On.PSS movement branched chain length is L1, the silent flatform length of side is L2, central axis angle point where movement branched chain and intermediate ball-type hinge
It Wei not θ1, θ2, θ3.Propeller central axis is D, and the angle with silent flatform is t.Three movements being in series with moving platform 104
Secondary axis junction mechanism center line B0C0In point H, HA1Length be d1, HA2Length be d2, connecting rod A1B1、A2B2、A3B3Length
It is L1, B0B1Length be L2。
Referring to attached drawing 4, three symmetrical PSS movement branched chains 102 are made of a planar contact pair and 2 universal shafts.By watching
Taking motor 1024 drives leading screw to do circumferential movement so that the movable block 1022 on leading screw is axially moved in a straight line along leading screw.It moves
Hooke's hinge is installed between motion block 1022 and transmission shaft 1021, plays a part of spherical pair.When movable block 1022 moves in a straight line
When, there are one opposite angular turns between movable block 1022 and transmission shaft 1021.Between transmission shaft 1021 and moving platform 104
It is hinged by Hooke, effect is also quite a spherical pair.It transmits the amount of movement of each branch and is reflected in dynamic flat
In the inclination of platform 104.
Since patent of the present invention is using waterproof screw propeller, so not needing to worry about in design
Sealing problem, thus greatly simplifie the mechanical structure of vector propeller solves some or causes because of sealing leak
Security risk.It is required to consider the problems of to be exactly the power supply to anti-water propeller, by the work(for controlling anti-water propeller motor
Rate control, the rotating speed of regulation motor, to control vector thruster propulsive force size, realize the power regulation of propeller.
The tool achieved by vector propeller is specifically described with reference to the situation that underwater detection equipment and AUV are likely encountered
Body function.When AUV needs to swerve, inclined optimum angle needed for propeller is calculated by revolution speed control system first
Then degree is transmitted to by pumping signal on the servo motor 1024 at 102 place of PSS movement branched chains of vector propeller, servo
Motor 1024 drives screw pair 1023 immediately, and the movement of movable block 1022 on screw pair 1023 is to drive and movement
The transmission shaft 1021 that block 1022 connects rotates around spherical pair thereon, then causes the phase of transmission shaft 1021 and moving platform 104
To rotation.Moving platform 104 can only be done around the spherical pair of intermediate ball-type hinge 103 and be rotated due to the effect of intermediate ball-type hinge S
Movement, by the collective effect of 3 PSS movement branched chains 102, scheduled inclination angle is tilted to by moving platform 104.On one AUV
The vector propeller of installation will not be less than 2, illustrate according to 4 vector propellers, then 4 propellers need rapidly in AUV
When turning, defined angle is tilted to respectively, and the size of the propulsive force of each propeller is then adjusted by power control, from
And AUV is made to advance towards expected direction.
Present most of underwater detection equipments all realize vertical lift by draining and absorbing water, and are seldom by pushing away
Into direct effect realize vertical lift.Though row's water suction can realize the function of vertical lift, it is difficult to control lifting
Speed, and it is difficult to realize the hovering action of whole equipment.By the effect of the vector propeller of this patent, can be good at solving
Certainly this problem.First, when AUV needs vertical ascent, situation specifically describes specific achieved by vector propeller
Function.Inclined best angle needed for propeller is calculated by revolution speed control system, arrow is then transmitted to by pumping signal
On the servo motor 1024 for measuring the PSS movement branched chains 102 of propeller, servo motor 1024 drives screw pair 1023 immediately,
The movement of movable block 1022 on screw pair 1023 is to drive the drive link being connect with movable block 1022 around spherical surface thereon
Pair rotates, and then causes the relative rotation of transmission shaft 1021 and moving platform 104.It should be noted that each propeller leans outward
Oblique angle should be consistent, and this makes it possible to the component in all directions on offset by the level of face.When AUV needs vertical drop dive
When with rise when close, the only change of inclined direction.Since structure limits, single vector propeller can not achieve
360 degree rotate freely, but use multiple vector propellers, you can solve the problems, such as this.
Claims (6)
1. a kind of underwater vector propeller based on space parallel mechanism, which is characterized in that including：
3-PSS/S space parallel mechanisms (1), the 3-PSS/S space parallel mechanisms (1) include silent flatform (101), PSS movements
Branch (102), intermediate ball-type hinge (103) and moving platform (104)；The moving platform (104) and silent flatform (101) pass through centre
Ball-type hinge (103) connects, and three symmetrically arranged PSS movement branched chains (102) are supported on the moving platform (104) and silent flatform
(101) between；The PSS movement branched chains (102) include transmission shaft (1021), movable block (1022), screw pair (1023)
With servo motor (1024), described transmission shaft (1021) one end is connected by hinge with the lower face of the moving platform (104), separately
One end is connected by hinge and movable block (1022), the nut in the movable block (1022) and the screw pair (1023)
It is fixedly connected, servo motor (1024) output shaft is fixedly connected with the input shaft of the screw pair (1023)；
With the propeller (2) being arranged on the moving platform (104), the propeller (2) and a direct-drive type underwater propulsion electricity
Machine (3) connects.
2. a kind of underwater vector propeller based on space parallel mechanism according to claim 1, which is characterized in that described
Intermediate ball-type hinge (103) includes ball rod (1031), more ear ball lids (1032), ball seat (1033), bearing (1034) and center
Column (1035)；More ear ball lids (1032) are connected by screw and the ball seat (1033), the ball rod (1031)
In more ear ball lids (1032), ball seat (1033) lower end passes through bearing (1034) and the center stand column for bulb setting
(1035) one end connects, and the other end of center stand column (1035) is connected by screw thread and silent flatform (101).
3. a kind of underwater vector propeller based on space parallel mechanism according to claim 1, which is characterized in that described
Underwater vector propeller further includes two level steering mechanism (4), and the two level steering mechanism (4) includes telescope support (401) and directly
Line motor (402), multiple telescope supports (401) are arranged in parallel, on one end and moving platform (104) of telescope support (401)
End face connects, the other end and propeller (2) connection, each telescope support (401) and linear motor (402) connection.
4. a kind of underwater vector propeller based on space parallel mechanism according to claim 1 or 2, which is characterized in that
The transmission shaft (1021) of three PSS movement branched chains (102) is about the substantially symmetrical about its central axis of intermediate ball-type hinge (103), three PSS fortune
Screw pair (1023) circumference uniform distribution of dynamic branch (102).
5. a kind of underwater vector propeller based on space parallel mechanism according to claim 1 or 2, which is characterized in that
Described transmission shaft (1021) one end is connected by hinge with the lower face of the moving platform (104), and the other end passes through hinge and shifting
Hinge in motion block (1022) connection is specially Hooke's hinge.
6. a kind of underwater vector propeller based on space parallel mechanism according to claim 2, which is characterized in that described
Screw pair (1023) is obliquely installed, and one end is connected with silent flatform (101) upper surface, the other end and intermediate ball-type hinge
(103) center stand column (1035) connection, lower part is supported using trapezoidal pylon structure.
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| CN107187571A (en) * | 2017-06-28 | 2017-09-22 | 兰州理工大学 | A kind of novel spraying pump axisymmetric vectoring exhaust nozzle |
| CN107985536B (en) * | 2017-11-30 | 2020-07-07 | 吉林大学 | Submersible vehicle with space parallel mechanism vector propeller |
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| CN108127646A (en) * | 2018-02-09 | 2018-06-08 | 遨博（北京）智能科技有限公司 | A kind of regulating arm |
| CN108155700A (en) * | 2018-02-09 | 2018-06-12 | 遨博（北京）智能科技有限公司 | A kind of charging robot and its charging mechanical arm |
| CN109048861B (en) * | 2018-08-30 | 2019-06-14 | 南京禹智智能科技有限公司 | A kind of support device for industrial robot |
| CN109353474A (en) * | 2018-08-31 | 2019-02-19 | 杭州电子科技大学 | A kind of vector propeller and cableless underwater robot |
| CN109625215B (en) * | 2018-12-05 | 2020-09-22 | 山东大学 | Underwater vector propulsion propeller and underwater vehicle |
| CN109572970B (en) * | 2018-12-24 | 2020-08-25 | 山东大学 | Vector propeller of underwater robot |
| CN110502024B (en) * | 2019-07-23 | 2020-10-20 | 北京控制工程研究所 | Quasi-universal attitude executing mechanism based on space parallel mechanism |
| CN111319742B (en) * | 2020-03-31 | 2021-06-18 | 东华大学 | Parallel type space tail pendulum propulsion device |
| CN112874742A (en) * | 2021-01-11 | 2021-06-01 | 北京理工大学 | Rectangular coordinate driving type underwater thrust vector control device |
| CN113075932B (en) * | 2021-03-30 | 2022-03-22 | 浙江大学 | UUV vector propulsion control method based on 3-RPS parallel mechanism |
| CN113246100A (en) * | 2021-05-14 | 2021-08-13 | 湖北工业大学 | Novel 3-PSS three-dimensional translational flexible parallel micro-motion platform |
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| US7478576B2 (en) * | 2005-03-22 | 2009-01-20 | Ross-Hime Designs, Inc. | Robotic manipulator |
| CN201579789U (en) * | 2009-12-15 | 2010-09-15 | 汕头大学 | Three-rotational DOF parallel-connection robot |
| CN102350699A (en) * | 2011-09-30 | 2012-02-15 | 汕头大学 | Six-DOF (degree of freedom) parallel robot with less branch chains |
| CN105216999B (en) * | 2015-10-16 | 2017-07-04 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and the underwater robot with the device |
| CN105366021B (en) * | 2015-12-02 | 2017-08-29 | 山东大学（威海） | The vector propulsion device of adjustable pitch and the submarine navigation device with the device |
| CN105564617B (en) * | 2016-02-22 | 2017-07-14 | 山东大学（威海） | Parallel connection type vector propulsion mechanism and the underwater robot with the mechanism |
| CN105546022A (en) * | 2016-02-22 | 2016-05-04 | 江苏科技大学 | Passive ship-based equipment impact-resistant platform based on six-degree-of-freedom parallel mechanism |
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