Abstract
In this paper we show that the design of omni-directional underwater vehicles could gain further insight thanks to the definition of three quality indexes, all related to the notion of isotropy. The first index comes from the concept of manipulability, the second index represents energetic issues and the third index gives exact information on isotropy in force. Basic mathematical relations are first recalled; then details about the derivation of each index are given. A case study is presented, including the description of six different omni-directional underwater vehicles and a table summarizing index for all vehicles. A « family » of designs obtains good results for all indexes; among this « family », one particular arrangement shows to be the best overall: its arrangement related to the Pythagorean Golden Ratio leads us to name it SamoS.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
M. Nokin, ROV 6000: a deep teleoperated system for scientific use, Proc. of 6th IARP Underwater Robotics, Toulon, France, March 1996.
J. G. Bellingham et al., AUV Operations in the Artic, Proc. of Sea Ice Mechanics and Artic Modeling Workshop, April 1995, Anchorage, Alaska.
J. Yuh, S.K. Choi and G.Y. Takashige, Omni-directional Intelligent Navigator, Intelligent Automation and Soft Computing, Vol. 1, TSI Press, pp. 637-642, 1994.
T. Yoshikawa, Manipulability of Robotic Mechanisms, The Int. Journal of Robotics Research, Vol. 4, No. 2, pp. 3–9, 1985.
V.C. Klema and A.J. Laub, The Singular Value Decomposition: its computation and some applications, IEEE Transactions on Automatic Control, Vol AC-25, No 2, pp 164–176, 1980.
P. Chiacchio, Y. Bouffard-Vercelli and F. Pierrot, Evaluation of Force Capabilities for Redundant Manipulators, Proc. of IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April 1996, pp. 3520-3525.
F. Ranjbaran, J. Angeles, A. Kecskeméthy, On the Kinematic Conditioning of Robotic Manipulators, Proc. of IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April 1996, pp. 3167-3172.
Golden Ratio Web Page www.astro.virginia.edu/~eww6n/math/GoldenRatio.html
Boyer, C. B. A History of Mathematics. New York: Wiley, 1968.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1998 Springer Science+Business Media Dordrecht
About this chapter
Cite this chapter
Pierrot, F., Benoit, M., Dauchez, P. (1998). SamoS: A Pythagorean Solution for Omni-Directional Underwater Vehicles. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_22
Download citation
DOI: https://doi.org/10.1007/978-94-015-9064-8_22
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-5066-3
Online ISBN: 978-94-015-9064-8
eBook Packages: Springer Book Archive