Abstract
Recently, underwater robots have been proposed use of the maintenance and inspection of underwater structures. However, these underwater robots will take a burden to the operator at the time of transportation, because there robots to be large. Therefore, the authors have developed an underwater robot with transformable frame. The frame contains strictly linear motion mechanism and it can reduce the width. Thus, the frame improves transportability of the underwater robot. Then, we experimented in a test tank to get the motion characteristic of underwater robots and confirmed that the robot is operating.
