System architecture design for hybrid manipulator.
Tang, Jui Guan.
Date of Issue2006
School of Mechanical and Aerospace Engineering
A hybrid manipulator is deployed on an Underwater Robotic Vehicle (URV) for provision of dexterous manipulation during inspection and intervention tasks of subsea facilities. It is a 7 degree-of-freedom robotic arm having a Launching Stage with two hydraulic joints for high power provision and an Inspection Stage with five electric joints for achieving motion precision at the end-effector. Designing and developing a prototype interfacing software module for the inspection stage that fits into the overall hybrid system architecture is the main contribution of this dissertation.
DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery
Nanyang Technological University