Abstract
Ancient shipwrecks are important marine archaeological objects, for the different shapes of ceramics in ancient shipwrecks are difficult to salvage this problem, a metamorphic parallel manipulator with different grasping configurations for different shapes of ceramics in ancient shipwrecks is designed. In this paper, three types of gripping configurations of the metamorphic parallel manipulator are studied, and the kinematic simulation of the three types of gripping configurations of the metamorphic parallel manipulator is carried out by using ADAMS software to analyse the trend of speed and acceleration change of the relevant driving joints during gripping under the three types of configurations, and to verify that gripping action can be realized.
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