Dynamics and kinematics of novel underwater vehicle-manipulator for cleaning water pool

Author

Li, Yangmin ; Lo, Ka Meng

Author_Institution

Dept. of Electromech. Eng., Univ. of Macau, Taipa, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

1196

Lastpage

1201

Abstract

This paper presents the dynamics and kinematics analysis of an underwater robot specifically designed for cleaning water pool. We have designed an underwater robot to meet the needs of cleaning job. The cleaning job can be classified into two main parts: bottom cleaning and side-wall cleaning. Most of the pool cleaning robots that are available in the present market are typically mobile robots. It is easy to find that a mobile robot cannot cleanse up some areas inside the water pool, such as the corner areas and the surface above the water level. Hence an underwater vehicle-manipulator system (UVMS) developed can tackle the cleaning issues efficiently.

Keywords

cleaning; industrial manipulators; manipulator dynamics; manipulator kinematics; underwater vehicles; bottom cleaning; manipulator dynamics; manipulator kinematics; mobile robot; side-wall cleaning; underwater robot; underwater vehicle-manipulator system; water pool cleaning; Cleaning; Kinematics; Manipulator dynamics; Medical robotics; Mobile robots; Rehabilitation robotics; Robotics and automation; Service robots; Underwater vehicles; Vehicle dynamics; Dynamics; Underwater Vehicle-Manipulator;

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.2009.5246486

Filename

5246486