抄録
In this study, we propose an underwater robot which equips with a transformable frame to suit each situations of a mission. Specifically, the mission is partitioned into situations. Thereby we confirmed that the underwater robots required two movement characteristics when the situations of moving and monitoring. The situations are different by the independence of movement freedoms and the isotropic of thrust. Furthermore, we study the thruster arrangement for corresponding to the two situations. We discuss the usefulness of transformation me chanisms. From the above discussion, we extract the design requirements of the transformation mechanism, and developed the underwater robot which can change the movement characteristics by changing the thruster angle using only thrust power.
