"水下核辐射环境下机器人车载机械手设计与应用研究"

ntains abundant mineral resources, energy, and biological resources. However, the marine environment is not suitable for human exploration. In recent years, with the rapid development of marine exploration, underwater robots have played a pivotal role in ocean exploration. The nuclear leakage caused by the earthquake in Japan also demonstrates the advantage of radiation-resistant robots underwater compared to humans. This design focuses on the design of the underwater nuclear radiation-resistant robot vehicle manipulator. Based on the unique working environment of underwater nuclear power plant robots, the underwater manipulator needs to have characteristics such as rust prevention, radiation resistance, and sealing compared to traditional manipulators. By analyzing the current development of underwater robots both domestically and abroad, a six-degree-of-freedom underwater manipulator's overall structure form is proposed, and the use of articulated type overall structure is determined. Detailed designs for the drive system using a DC reduction motor, the sealing, and the gripper are completed. Keywords: underwater manipulator, six-degree-of-freedom, drive system, sealing.