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- Title
Development of an Underwater Robotic Inspection System using Mechanical Contact.
- Authors
Sakagami, Norimitsu; Ishimaru, Kouhei; Kawamura, Sadao; Shibata, Mizuho; Onishi, Hiroyuki; Murakami, Shigeo
- Abstract
This paper reports the development of a robotic inspection system using a mechanical contact mechanism that enhances the positioning stability of a small and lightweight underwater robot to take clear images of underwater targets and to work with manipulators for inspections under external disturbances. As described in this paper, first we perform a two-dimensional numerical analysis based on force and moment acting on an underwater robot with a contact mechanism. Second, we experimentally investigate the friction coefficients of several soft and high friction materials for the contact points of a prototype contact mechanism to enhance the positioning stability of the robot. Based on the results of numerical analysis and the experimental investigation, we design and develop a prototype contact mechanism for an underwater robot. Moreover, we experimentally test the stability of the underwater robot with the contact mechanism in a test tank. Finally, a ship hull inspection is conducted as a field test in a port using the robot with the developed contact mechanism. The experimentally obtained results indicate that the proposed contact mechanism is a useful tool for underwater visual inspections and manipulator tasks of a small and lightweight underwater robot.
- Subjects
REMOTE submersibles; NUMERICAL analysis; FRICTION materials; IMAGE processing; UNDERWATER surveillance
- Publication
Journal of Field Robotics, 2013, Vol 30, Issue 4, p624
- ISSN
1556-4959
- Publication type
Article
- DOI
10.1002/rob.21463