The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2013
Session ID : 2A2-M03
Conference information
2A2-M03 Development of An Underwater Robot with Soil Sampling Function obtained by Thrusters : The third report:System Design with Movable Buoyancy Mechanism(Underwater Robot and Mechatronics)
Kenshirou YOKOIShinnosuke SASAKIMichitaka KAWABATAHiroki OKAJIMAShunsuke NAKAMURAYoshifumi OgamiNorimitsu SAKAGAMIShinji MATSUDAAtsushi MITSUIKo SANOKouichi TAGOSadao KAWAMURA
Author information
CONFERENCE PROCEEDINGS FREE ACCESS

Details
Abstract
This paper describes a new underwater robot for core sampling. We have already proposed a manportable size underwater robot for core sampling. The proposed robot can move to desired positions by thrusters. However, the motion efficiency in the horizontal direction is low because the cross section of the robot in the horizontal direction is considerably large. Moreover, since the total length of the robot in the vertical direction has 2.3m, it is impossible to release it from shallow areas of seaside. To solve those problems, we use a movable buoyancy mechanism in this paper. The system design of the movable buoyancy mechanism based on hydrodynamics is described.
Content from these authors
© 2013 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top