Development of a ball type of underwater robot

Author

Guo, Shuxiang ; Hata, Seiji ; Tanaka, Koujirou ; Ishii, Kouhei

Author_Institution

Dept. of Intell. Mech. Syst. Eng´´g, Kagawa Univ., Kagawa, Japan

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

2077

Lastpage

2082

Abstract

It is our purpose to develop a novel ball type of underwater robot that has the characteristics of flexibility, driven by wireless remote controller, good response and safety. This paper proposes a novel type of underwater robot utilizing servo motors as the actuator to realize moving motion. We also discuss the structure, motion mechanism and characteristic evaluation of the robot. The experimental results illustrated that the developed robot has characteristics of compact volume, quick response. And also the running speed control can be easily performed by frequency adjustment.

Keywords

marine systems; mobile robots; motion control; safety; servomechanisms; telecontrol; ball type; characteristic evaluation; flexibility characteristics; motion mechanism; safety; servomotors; underwater robot; wireless remote controller; Actuators; Intelligent robots; Medical diagnostic imaging; Medical robotics; Orbital robotics; Pulse width modulation; Robotics and automation; Service robots; Servomechanisms; Servomotors; Ball Type of Robot; Medical Application; Micro actuator; Micro mechanism; PWM Control; Underwater Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246153

Filename

5246153