| Autor: |
Sakagami, Norimitsu, Ishimaru, Kouhei, Kawamura, Sadao, Shibata, Mizuho, Onishi, Hiroyuki, Murakami, Shigeo |
| Předmět: |
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| Zdroj: |
Journal of Field Robotics; Jul/Aug2013, Vol. 30 Issue 4, p624-640, 17p |
| Abstrakt: |
This paper reports the development of a robotic inspection system using a mechanical contact mechanism that enhances the positioning stability of a small and lightweight underwater robot to take clear images of underwater targets and to work with manipulators for inspections under external disturbances. As described in this paper, first we perform a two-dimensional numerical analysis based on force and moment acting on an underwater robot with a contact mechanism. Second, we experimentally investigate the friction coefficients of several soft and high friction materials for the contact points of a prototype contact mechanism to enhance the positioning stability of the robot. Based on the results of numerical analysis and the experimental investigation, we design and develop a prototype contact mechanism for an underwater robot. Moreover, we experimentally test the stability of the underwater robot with the contact mechanism in a test tank. Finally, a ship hull inspection is conducted as a field test in a port using the robot with the developed contact mechanism. The experimentally obtained results indicate that the proposed contact mechanism is a useful tool for underwater visual inspections and manipulator tasks of a small and lightweight underwater robot. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
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