Development of an AUV with a manipulator
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- Ishitsuka Makoto
- 九州工業大学大学院 生命体工学研究科
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- Ishii Kazuo
- 九州工業大学大学院 生命体工学研究科
Bibliographic Information
- Other Title
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- マニピュレータを搭載した水中ロボットの開発
- マニピュレータを搭載した水中ロボットの開発 -動作シミュレーションとモジュール構造設計に基づく水中マニピュレータの開発・設計-
- マニピュレータ オ トウサイシタ スイチュウ ロボット ノ カイハツ ドウサ シミュレーション ト モジュール コウゾウ セッケイ ニ モトズク スイチュウ マニピュレータ ノ カイハツ セッケイ
- -動作シミュレーションとモジュール構造設計に基づく水中マニピュレータの開発・設計-
- -An underwater manipulator based on motion simulation and modular concept-
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Abstract
We have been developing an autonomous underwater vehicle (AUV) with a manipulator aiming at underwater operations using AUVs.At first, we describe an underwater manipulator which is designed based on motion control simulation and the modular concept. From the results of simulation, the specifications of the manipulator such as maximum torque and velocity are decided.As the waterproof mechanism of the manipulator, we introduced the magnet coupling structure to transfer motor torque from inside motor to outside gear. And the modular concept is introduced to realize reliability and good maintenance. Each link of manipulator has the same structure and includes a motor and a motor driver inside. Multi degree of freedom manipulator can be realized by combining same link modules. The modular concept is introduced into the AUV design, such that a functional device can be plugged into a matherboard to be less-wiring. Finally, the experimental results using an AUV with a manipulator are discussed.
Journal
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- Journal of the Japan Society of Naval Architects and Ocean Engineers
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Journal of the Japan Society of Naval Architects and Ocean Engineers 6 (0), 35-43, 2007
The Japan Society of Naval Architects and Ocean Engineers
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Details 詳細情報について
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- CRID
- 1390282680229795328
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- NII Article ID
- 110006614120
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- NII Book ID
- AA12057769
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- ISSN
- 18811760
- 18803717
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- HANDLE
- 10228/1106
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- NDL BIB ID
- 9378521
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- Text Lang
- ja
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- Data Source
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- JaLC
- IRDB
- NDL
- Crossref
- NDL-Digital
- CiNii Articles
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- Abstract License Flag
- Disallowed