Kinematic analysis of an Underwater Parallel Robot

Abstract

In this paper we present the kinematic analysis of an Underwater Parallel Robot, named Remo II. Due to its structure, this robot requires a smaller number of thrusters to navigate than other underwater vehicles. However, the kinematics of this robot is more complex than that of conventional underwater robots. The inverse position, velocity and acceleration kinematic analyzes of Remo II, are performed. This formulation is easily parallelizable and can be implemented in multiple-core processors.

Robótica Submarina: Conceptos, Elementos, Modelado y Control

“…Además, por el hecho de poder deformarse, este robot tiene la potencial capacidad de nadar. Por otro lado, en (Yime, 2008) y (Moreno et al, 2011) se presentó el diseño y modelado del robot Remo II. El sistema de propulsión de este robot tiene dos impulsores, uno en cada plataforma, y un Giróscopo de Control de Momento.…”