Kinematic design and analysis of a 7 degree-of-freedom dual-stage inspection manipulator for dexterous subsea applications

This paper describes the design of a 7 degree-of-freedom (d.o.f) manipulator for underwater inspection applications. The functional requirements of an underwater manipulator for subsea inspection are discussed and the desired performance requirements identified. The inspection process of a weld join...

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Detalhes bibliográficos
Principais autores: Asokan, Thondiyath, Seet, Gerald, Iastrebov, Viatcheslav, Senanayake, Rohan
Outros Autores: School of Mechanical and Aerospace Engineering
Formato: Journal Article
Idioma:English
Publicado em: 2020
Assuntos:
Acesso em linha:https://hdl.handle.net/10356/144534