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Published in:
2016 | OriginalPaper | Chapter
On Building Remotely Operated Underwater Robot-Explorer with Bi-manual Poly-articular System
Authors : Aleksandar Rodić, Ilija Stevanović, Miloš D. Jovanović, Đorđe Urukalo
Published in: Advances in Robot Design and Intelligent Control
Publisher: Springer International Publishing
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Abstract
The paper addresses the mechanical design of a river underwater robot (remotely operated vehicle—ROV) suitable for implementation in delicate and risky underwater tasks. The main factors that determine the mechanical design of the robot are hydrodynamic drags and low underwater visibility. The robot body is inspired by biological models of fishes as well as by the “golden ratio”-a natural geometry proportion that commonly appears in nature. The underwater ROV presented in the paper has two redundant, poly-articular, tendon-driven robot arms, suitable for use in submarine tasks due to their flexibility and light mechanical structure. The paper explains how robot propulsion is determined and which kind of thruster motors are chosen for this purpose. The designed mechanical structure is evaluated by corresponding simulation tests and the results of which are analysed. The paper finally presents concluding remarks and objectives of future work.