Deformable tensegrity structure underwater robot with a transformation mechanism
| Autor: | Mizuho Shibata, Norimitsu Sakagami |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Computer science
0206 medical engineering Structure (category theory) Mechanical engineering 02 engineering and technology Rotation 020601 biomedical engineering General Biochemistry Genetics and Molecular Biology Mechanism (engineering) 03 medical and health sciences 0302 clinical medicine Transformation (function) Artificial Intelligence Tensegrity Breakwater Underwater robot Robot 030217 neurology & neurosurgery |
| Zdroj: | Artificial Life and Robotics. 25:100-105 |
| ISSN: | 1614-7456 1433-5298 |
| DOI: | 10.1007/s10015-019-00563-9 |
| Popis: | Underwater robots for inspecting marine structures such as breakwaters, pipes and quay walls require mobility not only for self-transport but for rotation during inspection. To facilitate rotation mobility, we have proposed a portable, lightweight underwater robot whose performance to translate and rotate is achieved by it altering its shape. The shape is that of a three-strut tensegrity structure of three pipes connected with rubber strings. This manuscript describes a transformation mechanism for an underwater robot with a deformable tensegrity structure. The transformation mechanism includes a winding unit with a planetary gear. We show that the transformation mechanism has a self-locking feature by selecting a high gear ratio of the winding unit. We also evaluate the fluid characteristics of the robot with the transformation mechanism in several experiments in a circulating water tank to investigate the effect of the transformation mechanism. |
| Databáze: | OpenAIRE |
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