Research on optimization of linkage driving mechanism of underwater pure water hydraulic manipulator
XU Fengwei
ZHANG Hao
XIANG Yangjun
ZHANG Zhengzheng
WU Shihai
GONG Peng
Abstract：[Objective]In response to the current situation of low maturity and limited operating range of underwater pure water hydraulic manipulator technology,and considering the requirements of small space layout and large-scale operation in its working environment,a linkage driving mechanism for underwater pure water hydraulic manipulators was proposed.[Methods]The mechanism adopted a hydraulic linear cylinder to drive a six bar linkage mechanism,and kinematic and mechanical analysis of the mechanism was carried out.A multi-objective optimization model for the linkage mechanism was established with the output load,speed fluctuation,and stroke of the hydraulic cylinder as the objective functions.Based on the non-dominated sorting genetic algorithm(NSGA-Ⅱ),the dimensions,layout positions,and other parameters of the linkage mechanism were optimized and solved,completing the multi-objective optimization design of the driving mechanism.[Results]The results show that after optimization,all the indexes have been improved to a certain extent,effectively verifying the feasibility of the optimisation method.
Keywords：Water hydraulicUnderwater manipulatorDriving linkage mechanismMulti-objective genetic algorithmOptimal design
Publication Date：2025-10-31
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：7( 62-68 )