Development of an Underwater Vehicle-Manipulator System Based on Delta Parallel Mechanism

摘要

Underwater Vehicle-Manipulator Systems (UVMSs) play a critical role in various marine operations, where the choice of manipulator architecture significantly influences system performance. While serial robotic arms have been widely adopted in UVMS applications due to their operational flexibility, their inherent structural characteristics present certain challenges in underwater environments. These challenges primarily stem from the cumulative effects of joint mechanisms and dynamic interactions with the fluid medium. In this context, we explore an innovative UVMS solution that incorporates the Delta parallel mechanism, which offers distinct advantages through its symmetrical architecture and unilateral motor configuration, particularly in maintaining operational stability. We develop a comprehensive framework that includes mechanical design optimization, implementation of distributed control systems, and formulation of closed-form kinematic models, with comparative analysis against conventional serial robotic arms. Experimental validation demonstrates the system’s effectiveness in underwater navigation, target acquisition, and object manipulation under operator-guided control. The results reveal substantial enhancements in motion consistency and gravitational stability compared to traditional serial-arm configurations, positioning the Delta-based UVMS as a viable solution for complex underwater manipulation tasks. Furthermore, this study provides a comparative analysis of the proposed Delta-based UVMS and conventional serial-arm systems, offering valuable design insights and performance benchmarks to inform future development and optimization of underwater manipulation technologies.