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...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2020
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/144534 |
| _version_ | 1811696603438776320 |
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| author | Asokan, Thondiyath Seet, Gerald Iastrebov, Viatcheslav Senanayake, Rohan |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Asokan, Thondiyath Seet, Gerald Iastrebov, Viatcheslav Senanayake, Rohan |
| author_sort | Asokan, Thondiyath |
| collection | NTU |
| description | 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 joint using a manipulator is described and the desirable attributes of a 5 d.o.f manipulator for the inspection process established. A novel kinematic structure, for Underwater Robotic Vehicle (URV) operation, having a 2 d.o.f launching stages and a 5 d.o.f inspection stage is proposed for the manipulator. This configuration increases the dexterity, without compromising on the total reach of the manipulator. The kinematic structure of the 7 d.o.f, 2 stage, manipulator is presented. A hybrid power actuation is proposed for the manipulator to exploit the benefits of both hydraulic as well as electric actuators. Kinematic analysis of the manipulator is presented. The link dimensions of the inspection stage manipulator is done on the basis of kinematic performance indices of the manipulator. The novel kinematic structure and the hybrid power actuation strategy results in a power efficient, dexterous manipulator for underwater applications. |
| first_indexed | 2024-10-01T07:41:59Z |
| format | Journal Article |
| id | ntu-10356/144534 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:41:59Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1445342020-11-14T20:11:38Z Kinematic design and analysis of a 7 degree-of-freedom dual-stage inspection manipulator for dexterous subsea applications Asokan, Thondiyath Seet, Gerald Iastrebov, Viatcheslav Senanayake, Rohan School of Mechanical and Aerospace Engineering Robotics Research Centre Engineering::Mechanical engineering Underwater Manipulator Subsea Inspection 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 joint using a manipulator is described and the desirable attributes of a 5 d.o.f manipulator for the inspection process established. A novel kinematic structure, for Underwater Robotic Vehicle (URV) operation, having a 2 d.o.f launching stages and a 5 d.o.f inspection stage is proposed for the manipulator. This configuration increases the dexterity, without compromising on the total reach of the manipulator. The kinematic structure of the 7 d.o.f, 2 stage, manipulator is presented. A hybrid power actuation is proposed for the manipulator to exploit the benefits of both hydraulic as well as electric actuators. Kinematic analysis of the manipulator is presented. The link dimensions of the inspection stage manipulator is done on the basis of kinematic performance indices of the manipulator. The novel kinematic structure and the hybrid power actuation strategy results in a power efficient, dexterous manipulator for underwater applications. Accepted version 2020-11-11T06:42:19Z 2020-11-11T06:42:19Z 2003 Journal Article Asokan, T., Seet, G., Iastrebov, V., & Senanayake, R. (2003). Kinematic design and analysis of a 7 degree-of-freedom dual-stage inspection manipulator for dexterous subsea applications. Journal of Intelligent and Robotic Systems, 38, 277-295. doi:10.1023/B:JINT.0000004911.71783.e7 0921-0296 https://hdl.handle.net/10356/144534 10.1023/B:JINT.0000004911.71783.e7 18 277 295 en Journal of Intelligent and Robotic Systems This is a post-peer-review, pre-copyedit version of an article published in Journal of Intelligent and Robotic Systems. The final authenticated version is available online at: http://dx.doi.org/10.1023/B:JINT.0000004911.71783.e7 application/pdf |
| spellingShingle | Engineering::Mechanical engineering Underwater Manipulator Subsea Inspection Asokan, Thondiyath Seet, Gerald Iastrebov, Viatcheslav Senanayake, Rohan Kinematic design and analysis of a 7 degree-of-freedom dual-stage inspection manipulator for dexterous subsea applications |
| title | Kinematic design and analysis of a 7 degree-of-freedom dual-stage inspection manipulator for dexterous subsea applications |
| title_full | Kinematic design and analysis of a 7 degree-of-freedom dual-stage inspection manipulator for dexterous subsea applications |
| title_fullStr | Kinematic design and analysis of a 7 degree-of-freedom dual-stage inspection manipulator for dexterous subsea applications |
| title_full_unstemmed | Kinematic design and analysis of a 7 degree-of-freedom dual-stage inspection manipulator for dexterous subsea applications |
| title_short | Kinematic design and analysis of a 7 degree-of-freedom dual-stage inspection manipulator for dexterous subsea applications |
| title_sort | kinematic design and analysis of a 7 degree of freedom dual stage inspection manipulator for dexterous subsea applications |
| topic | Engineering::Mechanical engineering Underwater Manipulator Subsea Inspection |
| url | https://hdl.handle.net/10356/144534 |
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