<abstract xmlns="http://www.w3.org/1999/xhtml"><p>The article presents the general construction of an underwater vehicle manipulator along with a discussion of the materials used in their construction. The types of drive systems used by the manipulator have been characterised, distinguishing their advantages and disadvantages. The functions of the manipulator are specified in relation to the activities performed by it. Moreover, the paper discusses the manipulator's degrees of freedom with the specification of the formula for their calculation. The basic types of end effectors are presented as well as an outline of the classification of manipulators in relation to the tasks carried out.</p></abstract>

The article presents the general construction of an underwater vehicle manipulator along with a discussion of the materials used in their construction. The types of drive systems used by the manipulator have been characterised, distinguishing their advantages and disadvantages. The functions of the manipulator are specified in relation to the activities performed by it. Moreover, the paper discusses the manipulator's degrees of freedom with the specification of the formula for their calculation. The basic types of end effectors are presented as well as an outline of the classification of manipulators in relation to the tasks carried out.

General Construction and Classification of Manipulators for Underwater Vehicles

Polish Hyperbaric Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"General Construction and Classification of Manipulators for Underwater Vehicles"}

The article presents the general construction of an underwater vehicle manipulator along with a discussion of the materials used in their construction. The...

General Construction and Classification of Manipulators for Underwater Vehicles

Published Online: Oct 17, 2018

Page range: 10 - 17

Received: Mar 08, 2018

Accepted: Jun 01, 2018

DOI: https://doi.org/10.2478/phr-2018-0009

Keywords
marine engineering, submarines, underwater works technology, underwater vehicles manipulators

© 2018 Marek Dawidziuk, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

General Construction and Classification of Manipulators for Underwater Vehicles

Published Online: Oct 17, 2018

Page range: 10 - 17

Received: Mar 08, 2018

Accepted: Jun 01, 2018

DOI: https://doi.org/10.2478/phr-2018-0009

Keywordsmarine engineering, submarines, underwater works technology, underwater vehicles manipulators

© 2018 Marek Dawidziuk, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
marine engineering, submarines, underwater works technology, underwater vehicles manipulators