CAJ | 학술논문

鉴于水下作业特殊环境,深水作业灵巧手驱动装置的选择较为慎重.电机驱动是最为常用的驱动方式之一,其控制方法和技术十分成熟,是水下作业灵巧手优先考虑的驱动方式,但密封问题严重制约着在水下工作应用.本文结合以往经验,对比常规密封设计,介绍了水下作业灵巧手关键部位动密封,对其作了深入的探讨,提出了磁密封在深水作业灵巧手上应用;根据灵巧手驱动电机设计与之相匹配的磁密封件,并计算和验证了相关设计参数,得出较为理想的工程实用结果.
감우수하작업특수배경,심수작업령교수구동장치적선택교위신중.전궤구동시최위상용적구동방식지일,기공제방법화기술십분성숙,시수하작업령교수우선고필적구동방식,단밀봉문제엄중제약착재수하공작응용.본문결합이왕경험,대비상규밀봉설계,개소료수하작업령교수관건부위동밀봉,대기작료심입적탐토,제출료자밀봉재심수작업령교수상응용;근거령교수구동전궤설계여지상필배적자밀봉건,병계산화험증료상관설계삼수,득출교위이상적공정실용결과.
The selection of driving device for the underwater dexterous hand is much more cautiously just because the special operation surrounding. Motor is the one of the most common driving methods and its control methods and techniques ale very mature, so itschoule be considered as a driring dering first. However the problem of sealing restricts the application seriously if taking into account the blue water environment. Compared with the past experience and compared with the design of the traditional seals, this paper introduces teh dynamic seal to the key positions of the underwater dexterous hand. The application of the magnetic seal is proposed and its relative parameters are. calculated and checked. According to the driving motor, it will match the magnetic Through the engineering proctice, seal the appropriate result is obtained.