System architecture design for hybrid manipulator
A hybrid manipulator is deployed on an Underwater Robotic Vehicle (URV) for provision of dexterous manipulation during inspection and intervention tasks of subsea facilities. It is a 7 degree-of-freedom robotic arm having a Launching Stage with two hydraulic joints for high power provision and an In...
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| Format: | Thesis |
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2008
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| Online Access: | http://hdl.handle.net/10356/5591 |
| _version_ | 1811690381025214464 |
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| author | Tang, Jui Guan. |
| author2 | Lau, Michael Wai Shing |
| author_facet | Lau, Michael Wai Shing Tang, Jui Guan. |
| author_sort | Tang, Jui Guan. |
| collection | NTU |
| description | A hybrid manipulator is deployed on an Underwater Robotic Vehicle (URV) for provision of dexterous manipulation during inspection and intervention tasks of subsea facilities. It is a 7 degree-of-freedom robotic arm having a Launching Stage with two hydraulic joints for high power provision and an Inspection Stage with five electric joints for achieving motion precision at the end-effector. Designing and developing a prototype interfacing software module for the inspection stage that fits into the overall hybrid system architecture is the main contribution of this dissertation. |
| first_indexed | 2024-10-01T06:03:05Z |
| format | Thesis |
| id | ntu-10356/5591 |
| institution | Nanyang Technological University |
| last_indexed | 2024-10-01T06:03:05Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | ntu-10356/55912023-03-11T16:56:02Z System architecture design for hybrid manipulator Tang, Jui Guan. Lau, Michael Wai Shing School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery A hybrid manipulator is deployed on an Underwater Robotic Vehicle (URV) for provision of dexterous manipulation during inspection and intervention tasks of subsea facilities. It is a 7 degree-of-freedom robotic arm having a Launching Stage with two hydraulic joints for high power provision and an Inspection Stage with five electric joints for achieving motion precision at the end-effector. Designing and developing a prototype interfacing software module for the inspection stage that fits into the overall hybrid system architecture is the main contribution of this dissertation. Master of Science (Smart Product Design) 2008-09-17T10:54:27Z 2008-09-17T10:54:27Z 2006 2006 Thesis http://hdl.handle.net/10356/5591 Nanyang Technological University application/pdf |
| spellingShingle | DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery Tang, Jui Guan. System architecture design for hybrid manipulator |
| title | System architecture design for hybrid manipulator |
| title_full | System architecture design for hybrid manipulator |
| title_fullStr | System architecture design for hybrid manipulator |
| title_full_unstemmed | System architecture design for hybrid manipulator |
| title_short | System architecture design for hybrid manipulator |
| title_sort | system architecture design for hybrid manipulator |
| topic | DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery |
| url | http://hdl.handle.net/10356/5591 |
| work_keys_str_mv | AT tangjuiguan systemarchitecturedesignforhybridmanipulator |