Development of a tentacle robot propulsor for underwater navigation /
As robotic technology matures and more platforms are fielded in unstructured real-world situations, more new areas of applications are being depict for robotic deployment. After successes in industrial robots, researchers are now trying to explore new robots with biological features of different bio...
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| Format: | Thesis |
| Language: | English |
| Published: |
Kuala Lumpur :
Kulliyyah of Engineering, International Islamic University Malaysia,
2015
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| Subjects: | |
| Online Access: | http://studentrepo.iium.edu.my/handle/123456789/4563 |
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| Summary: | As robotic technology matures and more platforms are fielded in unstructured real-world situations, more new areas of applications are being depict for robotic deployment. After successes in industrial robots, researchers are now trying to explore new robots with biological features of different biological creatures like snakes, birds, and spiders for their relevant advantages. Underwater exploration has become an attractive area of research due to the abundance of resources under the sea and besides this, in maritime industry, maintenance and repair operation for ships are a costly and risky operation which has to be performed frequently. Due to this, research on the tentacle robot for underwater applications is a new field of research. There are few relevant research works on this topic and they are mostly focused on the biological robot. This work aims to propose and demonstrate a new technique to build a tentacle robot propulsor for underwater maneuvering purposes. A geometric approach has been proposed for a multi-link tentacle robot propulsor design. A prototype has been designed with an accurately calculated length and shape to make the desired propulsion and maneuvering in water possible whilst overcoming different constraints. A control algorithm was then developed to control the links of the robot along the path so that robot links will sequentially propagate the earlier link position to make the desired propulsion in water. A DC micro motor is used to actuate the joints' rotation and controlled by a custom-made angular position sensor. The prototype's design is based on a kinematic analysis of the robot and is later tested in the water, successfully remaining in the water. Experimental results were found to be in very good agreement with the simulated results. |
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| Physical Description: | xvi, 82 leaves : ill. ; 30cm. |
| Bibliography: | Includes bibliographical references (leaves 75-81). |