General Construction and Classification of Manipulators for Underwater Vehicles

Open access

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.

If the inline PDF is not rendering correctly, you can download the PDF file here.

  • 1. Olejnik A. The Development of the Technique of Underwater Remotely Operated Vehicles. Polish Hyperbaric Research 2009;3(28):7-21 ISSN 1734-7009;

  • 2. Meccano Magazine Meccano Ltd. 1963; 2(48) 49;

  • 3. Collective work edited by R. F. Busby. Remotely Operated Vehicles. U.S. National Oceanic and Atmospheric Administration - Office of Ocean Engineering Washington D.C. 1979;

  • 4. The Ogden Standard-Examiner Ogden Utah 17.05.1953; 2;

  • 5. Zdanowicz R. The Basics of Robotics. Publ. Wydaw. Politechniki Śląskiej Gliwice 2012: 29-83 ISBN 978-83-7335-922-2;

  • 6. Collective work edited by Morawiecki A Knapczyk J. The Basics of Robotics. Theory and Elements of Manipulators and Robots. 3rd edition WNT Warsaw 1999: 412-439 ISBN 83-204-2331-7;

  • 7. Christ R. D Wernli Sr R. L. The ROV Manual. A User Guide for Remotely Operated Vehicles. Second edition 2014: 503-558 ISBN 978-0-08-098288-5;

  • 8. Moore S. W Bohm H Jensen V. Underwater Robotics. Science Design & Fabrication. MATE Center 2010: 529-572 ISBN 978-0-9841737-0-9;

  • 9. Wojnarowski J Nowak A. The Mechanics of Manipulators-Robots in Motor Description. Publ. Wyd. Politechniki Śląskiej Gliwice 2007; 13-14 ISBN 978-83-7335-363-3;

  • 10. European Standard. Petroleum and Natural Gas Industries - Design and Operation of Subsea Production Systems. Part 8: Remotely Operated Vehicle (ROV) Interfaces on Subsea Production Systems. EN ISO 13628-8:2006;

  • 11. Jakus B Olejnik A. The Analysis of Drive Systems in Unmanned Underwater Vehicles Towards Identifying the Method of Drive Transmission. Polish Hyperbaric Research 2017; 3(60) DOI 10.1515/phr-2017-00010;

  • 12. Internet sources:

  • a. http://cyberneticzoo.com/category/underwater-robotics/ - access in 06.2018;

  • b. http://cyberneticzoo.com/underwater-robotics/1960-solaris-mechanical-crab-jack-green-american/ - access in 06.2018;

  • c. http://cyberneticzoo.com/teleoperators/1964-unumo-universal-underwater-mobot-hughes-aircraft-american/ - access in 06.2018;

  • d. http://vistechnologies.com/?page_id=661 - access in 06.2018;

  • e. http://www.saabseaeye.com/solutions/underwater-vehicles/falcon - access in 06.2018;

  • f. http://www.titanrob.com/wp-content/uploads/2016/02/TRBT_SP003_M700-Specs_rev01.pdf - access in 06.2018;

  • g. http://www.videoray.com/homepage/new/options/rotating-manipulator.html#!NewManip_Pro4 - access in 06.2018;

  • h. http://hydro-lek.com/tooling.php - access in 06.2018;

  • i. http://www.titanrob.com/wp-content/uploads/2016/02/TRBT_SP002_G500-Specs_rev00.pdf - access in 06.2018;

  • j. http://www.profoundtechnology.net/manipulators/manipulator-m2r/ - access in 06.2018.

Search
Journal information
Metrics
All Time Past Year Past 30 Days
Abstract Views 0 0 0
Full Text Views 168 134 5
PDF Downloads 126 100 6