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The need for development of underwater vehicle-manipulator systems (UVMS) is on the rise owing to the increased requirement for underwater operations. To perform handle valve turning task, which is important task of underwater operation, three underwater manipulation methods can be considered. Single- and dual-arm manipulation methods comprise the first two types. The dual-arm manipulation requires...
In the non-servo motor type automatic tool changer (ATC), the rotational transmission mechanism (RTM), which converts the rotary motion with specific rotational ratio, is important. This paper presents a new design for RTM with dual four-bar linkages for the non-servo motor type ATC. This RTM is entirely different from the mechanism using single four-bar linkage, in which the motion is intermittent...
Disturbance compensation is one of the major issues for underwater robots to hover as a mobile platform and to manipulate an object in an underwater environment. This paper presents a new strategy of disturbance compensation for a mobile dual-arm underwater robot using internal torques derived from redundant parallel mechanism theory. A model of the robot was analyzed by redundant serial and parallel...
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