Highly maneuverable spherical robots for underwater applications
Thesis (S.B.)--Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013.
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
| Published: |
Massachusetts Institute of Technology
2014
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/83713 |
| _version_ | 1826198002231934976 |
|---|---|
| author | Fittery, Aaron (Aaron M.) |
| author2 | H. Harry Asada. |
| author_facet | H. Harry Asada. Fittery, Aaron (Aaron M.) |
| author_sort | Fittery, Aaron (Aaron M.) |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013. |
| first_indexed | 2024-09-23T10:57:20Z |
| format | Thesis |
| id | mit-1721.1/83713 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T10:57:20Z |
| publishDate | 2014 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/837132019-04-11T11:07:02Z Highly maneuverable spherical robots for underwater applications Fittery, Aaron (Aaron M.) H. Harry Asada. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering. Mechanical Engineering. Thesis (S.B.)--Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013. Cataloged from PDF version of thesis. Includes bibliographical references (pages 45-46). The direct video inspection of complex underwater systems, like those inside nuclear reactors, is a difficult task to accomplish. Alternatives to underwater remotely operated vehicle (ROV) inspection are very laborious, if possible at all. Current ROVs have difficulty navigating and effectively surveying these systems because walls and extrusions throughout the environment easily damage the external appendages that propel and steer the robots. These damages will often times render the robot useless, leaving it stranded. Continuing off previous work designing externally smooth robots with uniquely designed internalized mechanical components, this work explores the design of new, spherical robots. There exist many benefits to the spherical geometry of vehicles. With zero added mass and identical dynamics moving in all directions, the maneuvering capabilities of these robots are extremely high, making them easy to control and inspect many complex underwater systems. by Aaron Fittery. S.B. 2014-01-09T19:47:36Z 2014-01-09T19:47:36Z 2013 Thesis http://hdl.handle.net/1721.1/83713 864437179 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 46 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Fittery, Aaron (Aaron M.) Highly maneuverable spherical robots for underwater applications |
| title | Highly maneuverable spherical robots for underwater applications |
| title_full | Highly maneuverable spherical robots for underwater applications |
| title_fullStr | Highly maneuverable spherical robots for underwater applications |
| title_full_unstemmed | Highly maneuverable spherical robots for underwater applications |
| title_short | Highly maneuverable spherical robots for underwater applications |
| title_sort | highly maneuverable spherical robots for underwater applications |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/83713 |
| work_keys_str_mv | AT fitteryaaronaaronm highlymaneuverablesphericalrobotsforunderwaterapplications |