Kinematics Analysis of Vehicle-Parallel Manipulator System Based on Delta Robot

Underwater Vehicle-Manipulator System (UVMS) can not only observe the marine environment but also implement the underwater operation tasks． The serial manipulators carried by UVMS derive strong dynamic coupling effect between vehicle and manipulator during operation which is harmful to accurate underwater operation． In this study, an Underwater Vehicle-Parallel Manipulator System (UVPMS) was proposed, in which a 3-degree-of-freedom Delta parallel institution was utilized as the manipulator． The UVPMS model based on Delta mechanism was established and the kinematic analysis was carried out to obtain the position and workspace of the manipulator which is provide a reference basis for improving the accuracy of underwater robot grasping operation.