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On Building Remotely Operated Underwater Robot-Explorer with Bi-manual Poly-articular System

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Advances in Robot Design and Intelligent Control

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 371))

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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.

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References

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Acknowledgments

This project is realized within the Serbia-China bilateral project under the grant 451-03-02338/2012-14/12 funded by the Serbian Ministry of Science and partially supported by the EU research and innovation program HORIZON 2020 “Research night” under the grant agreement no. 633398, 2014–2015.

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Authors and Affiliations

  1. University of Belgrade, Mihailo Pupin Institute, Robotics Laboratory, Belgrade, Serbia

    Aleksandar Rodić, Ilija Stevanović, Miloš D. Jovanović & Đorđe Urukalo

Authors
  1. Aleksandar Rodić
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  2. Ilija Stevanović
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  3. Miloš D. Jovanović
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  4. Đorđe Urukalo
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Corresponding author

Correspondence to Aleksandar Rodić .

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Editors and Affiliations

  1. Fac of Auto Ctrl & Comp Sci (Automatica), University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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© 2016 Springer International Publishing Switzerland

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Rodić, A., Stevanović, I., Jovanović, M.D., Urukalo, Đ. (2016). On Building Remotely Operated Underwater Robot-Explorer with Bi-manual Poly-articular System. In: Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. Advances in Intelligent Systems and Computing, vol 371. Springer, Cham. https://doi.org/10.1007/978-3-319-21290-6_48

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  • DOI: https://doi.org/10.1007/978-3-319-21290-6_48

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-21289-0

  • Online ISBN: 978-3-319-21290-6

  • eBook Packages: EngineeringEngineering (R0)

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