627 Basic Research on Mass Compensator for Counter Arm of Small Neutral Buoyancy type Underwater Robot

Abstract

In order to develop a mass compensator for a counter arm of small neutral buoyancy type underwater robot, a tilting basket installed at the tip of the rotating counter arm is proposed. And the effectiveness is confirmed by model experiments. Then, it is clarified that 30% of the mass of fluid in the basket can be changed by tilting the basket because of the centrifugal force, in other words, by changing the direction of the opening of the basket, but, the mass of fluid in the basket changes slightly by the amplitude of the rotating arm.