Abstract
As part of the Underwater Mechanical hand and Tool Box System, the underwater tool-switching device can carry variety kinds of tools that have general interfaces during one-time underwater operation, like polisher, driller, cutting saw, torque wrench. By operating the underwater ROV Mechanical hand using the remote control system on the land, the workers are able to switch all kinds of tools quickly so that they can enhance the work ability and improve the efficiency of the Underwater Mechanical hand. In this paper, the geometric conditions required for the docking of the mobile end and the fixed end of the docking device are analyzed. Through the projection method, the three-dimensional docking process is transformed into the two-dimensional position equation on the main docking plane, and the mathematical model is established to obtain the docking tolerance range. Then, the simulation experiment is carried out by Adams to verify the correctness of the tolerance theoretical calculation.
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