Monte Carlo method for searching functional workspace of an underwater manipulator

In the last few decades we have seen greater advancement in the underwater technology with an intensified interest of researchers in the underwater robotics fields. Therefore, an underwater manipulator with six degree-of-freedom was presented with the purpose of exploring ocean resources. Underwater manipulator joint coordinate systems were established and link parameters were determined by D-H method, and the forward kinematics model was built according to the body structure and motion features. The workspace of manipulator was analyzed by Monte Carlo method for random sampling. Simulation results showed that by using Monte Carlo method for random sampling the analysis of underwater manipulator workspace changed smoothly without impact, which confirmed the rationality of structural design, and provided the basis for optimal design of the underwater manipulator.