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Field and service applications - Exploring deep sea by teleoperated robot - An underwater parallel robot with high navigation capabilities

Abstract:

A new application of parallel robots called underwater parallel robot (UPR), a novel application of the S-G platform, has been presented. The S-G platform is a parallel mechanism with 6 degrees of freedom based on two rings that are connected by six linear actuators which are then linked to the rings by spherical and universal joints. Some important advantages of this kinematic configuration are its mechanical stability and high rigidity. High forces and torques can also be applied when all power is connected to a single ring. Finally, it has low inertia that consequently allows high velocities and accelerations. The first prototype of UPR robot has been named REMO I. the control set setup has two layer control architecture: the on board control layer which controls the linear actuators and the thruster in a close loop and the land surface control layer for controlling navigation and safety conditions, for showing three user interfaces, for closing the navigation control loop and solving kinematics control algorithm. The system is also an extension of the hydrodynamic model for monohull underwater vehicles which has proven as another important result towards a dynamic model for an underwater multibody system. The result of the computational fluid dynamics (CFD) have been interpolated in order to get a three dimensional evolution of the hydrodynamic parameters.