针对一般的水下机器人难以有效地实现不同种类的水下沉物打捞问题，研制一种高机动性、适应多种目标的深海探测打捞系统。该系统配备多个推进器实现水下打捞作业的灵活控制，安装5功能液压机械手实现小体积沉物的打捞，设计专用打捞工具，实现大体积、大质量沉物的打捞。针对不同沉物目标给出了具体的打捞方法，为深海沉物的打捞系统研制提供借鉴。
In order to solve the problem of general under water robot can not effectively salve underwater target, we develop a deep-sea salvage system with high flexibility and adaptability. The system installs a number of thrusters to achieve the flexible control ability of underwater salvage. After this, it equips with five function hydraulic manipulator to salve small volume target and special salvage tools to achieve large volume and high quality target salvage. Then, the salvage methods for different targets are given which can be used as reference in deep-sea salvage system design.
2017,(): 95-99 收稿日期：2017-04-22
DOI：10.3404/j.issn.1672-7649.2017.12.020
分类号：TP273
作者简介：胡测(1987-),男,硕士研究生,工程师,主要从事水下航行器控制系统研究
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