Conceptual Design of an AUV Equipped with a Three Degrees of Freedom Vectored Thruster

Cavallo, Emanuele; Michelini, Rinaldo C.; Filaretov, Vladimir

doi:10.1023/b:jint.0000026081.75417.50

Cited by 64 publications

(35 citation statements)

References 9 publications

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“…Parallel manipulator (see Fig 1) has the following kinematic parameters [3]: u i is the vector, directed from the centre of mechanism to the joint, which connects fixed platform and the i-th kinematic chain; w i is the vector, directed from the centre of mechanism to the joint, which connects the links of the i-th kinematic chain; v i is the vector, directed from the centre of mechanism to the joint, which connects the mobile platform and the i-th kinematic chain; α 1 is the angle between vectors u i and w i ; α 2 is the angle between vectors u i and v i . Moreover vectors u i ) 3 , 1 ( = i they are identical, and the angles between the adjacent vectors v i It should be noted that in the general case, angles α 1 and α 2 can have different values for each kinematic chain.…”

Section: Manipulator Descriptionmentioning

confidence: 99%

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Applying Neural Network to Inverse Kinematics Task of Spherical Parallel Manipulator

Yukhimets

Filaretov

2007

2007 International Conference on Mechatronics and Automation

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Work is dedicated to the synthesis of neural network to inverse kinematics task of spherical parallel manipulator. This neural network is used for calculating of the desired orienting drives rotation angle for this parallel manipulator. The carry out investigations showed high efficiency and accuracy of the approach proposed.Index Terms -parallel manipulator, inverse kinematics task, neural network.

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Section: Manipulator Descriptionmentioning

confidence: 99%

“…This work is dedicated to the task of synthesis and investigating the neural network to inverse kinematics task of the spherical parallel manipulator, which is used as the underwater vehicle's thruster orientation device [3]. This manipulator fulfills two basic functions.…”

Section: Introductionmentioning

confidence: 99%

Applying Neural Network to Inverse Kinematics Task of Spherical Parallel Manipulator

Yukhimets

Filaretov

2007

2007 International Conference on Mechatronics and Automation

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“…We can divide them into three categories: classical rear propeller and control surface architectures [23], bio-mimetic propulsion [25,26,8] and vector thrust [3]. The latter can be achieved by different means: Some authors use a steerable rear propeller for propulsion, maneuvering and control [2,17,18,10,9,13]. Some others make collective and cyclic pitch propellers by using a swash plate [12] or by using shape-memory alloys [24].…”

Section: Introductionmentioning

confidence: 99%

Trajectory-Based Synthesis of Propulsion Systems for Fixed-Thrusters AUVs

Chocron

Delaleau

2018

ROMANSY 22 – Robot Design, Dynamics and Control

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Abstract. This paper presents a synthesis method for the Autonomous Underwater Vehicle (AUV) propulsion system based on the features of a trajectory to follow. This method is based on solid/fluid dynamics analysis of a AUV performing the trajectory following task and gives actuation requirements to achieve it properly. This actuation is then used to generate a propulsion system under the form of a Thrust Configuration Matrix (TCM) that is compatible with the desired trajectory. From this matrix the number of thrusters, their position and direction can then be extracted to synthesis a fitted propulsion system. Thus, the propulsion capabilities of the robot will match the trajectory characteristics and it will be able to follow it. The objective of this work is to provide an evaluation as well as a design method to produce a controllable AUV for a given task. A second use of such an analysis is to provide an evaluation process allowing to perform AUV task-based design. The method is developed for generic fixed-thrusters AUVs on any trajectory, and is applied to an existing 4-thrusters AUV for a seabed scanning flat trajectory. The method shows why the initial AUV propulsion does not match the task and what is the solution solving the issue.

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“…Many types of underwater robots have been developed in recent years. While the use of some of these robots involves changing the angles of rudders or adjusting the differential propulsive forces of thrusters, a number of vectored propeller-actuated underwater robots have also been introduced [5]. A multi-channel Hall-effect thruster has also been reported, involving vector composition of underwater robots [6].…”

Section: Introductionmentioning

confidence: 99%

A Multifunctional Underwater Biomimetic Microrobot

Guo

Shi

2015

Springer Tracts in Mechanical Engineering

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Robots play an important role in underwater monitoring and recovery operations, such as pollution detection, submarine sampling and data collection, video mapping, and object recovery in dangerous places. However, regular-sized robots may not be suitable for applications in some restricted underwater environments. Accordingly, in previous research we designed several novel types of bio-inspired microrobots, using ionic polymer metal composite (IPMC) and shape memory alloy (SMA) actuators. These microrobots possess some of the attributes of compact structure, multifunctionality, flexibility, and precise positioning. However, they lack the attributes of long endurance, stable high speed, and large load capacity necessary for real-world applications. To overcome these disadvantages, we propose a mother-son robot system, composed of several microrobots as sons and a newly designed amphibious spherical robot as the mother. In this system, the mother robot is actuated by four water-jet propellers and eight servomotors, capable of providing stable high speed and carrying the microrobots to the desired target location where tasks are to be performed. Generally speaking, compact structure, multifunctionality, and precise positioning are considered incompatible characteristics for underwater microrobots. To realize the necessary multifunctionality for adapting to complex underwater environments, we introduce a walking biomimetic microrobot with two kinds of motion attitudes: a lying state and a standing state. The microrobot uses eleven IPMC actuators to move and two SMA actuators to change its motion attitude. In the lying state, the microrobot implements stickinsect-inspired walking/rotating motion, fishlike swimming motion, horizontal grasping motion, and floating motion. In the standing state, it implements inchworm-inspired crawling motion in two horizontal directions and grasping motion in the vertical direction. We constructed a prototype of this biomimetic microrobot and evaluated its walking, rotating, and floating speeds experimentally. The experimental results indicated that the robot could attain a maximum walking speed of 3.6 mm/s, a maximum rotational speed of 9°/s, and a maximum floating speed of 7.14 mm/s. Obstacle-avoidance and swimming experiments were also carried out to demonstrate its multifunctionality.

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Conceptual Design of an AUV Equipped with a Three Degrees of Freedom Vectored Thruster

Cited by 64 publications

References 9 publications

Applying Neural Network to Inverse Kinematics Task of Spherical Parallel Manipulator

Applying Neural Network to Inverse Kinematics Task of Spherical Parallel Manipulator

Trajectory-Based Synthesis of Propulsion Systems for Fixed-Thrusters AUVs

A Multifunctional Underwater Biomimetic Microrobot

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