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This paper describes the structure design of a 6-DOF (Degree of Freedom) underwater robotic manipulator arm and the analysis of its workspace. Robotic arm very closely resemble human hand and its design is based on the principle of human hand. The structure of the manipulator arm consists of shoulder, elbow and wrist. The robotic manipulator arm works underwater more safely and for longer time as...
This paper describes modeling of the inverse kinematics of a 6-DOF underwater manipulator using closed form solution approach. The manipulator structure is based on puma 560 robot with some modification. The manipulator is aimed for underwater operation in water pool. Robotic manipulator is positioning device and its end-effector is required to move in a particular way to accomplish a specific task...
Sometime a system is expressed more clearly and elegantly with an analytical model. For robotic manipulator the analysis consists of its kinematic modeling and its validation. This paper describes the forward kinematic model of a 6-DOF underwater manipulator and analyzes its end-effector motion through joint space. The manipulator is specifically designed for underwater operation of a water pool....
Seabed oil pipelines are kinds of complex material. During the maintenance and repair of Seabed oil pipelines which need cut off when they are breakage, and it is very difficult to complete the task with common underwater cutting ways. For cutting complex material and materials which have irregular form with diamond wire saw is a perfect technique. The paper gives an introduction of constitution and...
The aim of the thesis is developing wind power installing equipment with self-determination product, that is two-sides lifting tool of steel tube stake. At first, the mechanism of it was designed and its principle was also expounded. Next, the gripping mechanism composed of hydraulic cylinder and inclined gripping blocks was designed and its force relation was analyzed, so the positive pressure of...
In order to acclimatize amphibious bio-crab robot to the amphibious environment better, a series-parallel structure of amphibious bio-crab robot is proposed, then we designed an amphibious bio-crab robot which use the modular worm and worm wheel transmission mechanism to achieve the transmission of the leg joint. A single leg and overall walking simulation model of amphibious bio-crab robot was established,...
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