Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In recent years, the demand for underwater robotic arms applicable for inspection in revetment and offshore facilities is increasing. However, thick and heavy hermetic waterproof structure, high reduction gear systems, rubber sealings with high friction are needed for conventional underwater robots, which lead to a large amount of cost and lose flexibility against the environments. In this paper, to achieve high back-drivability underwater, a 2-DoF planar robotic arm using low reduction gears, and brushless DC motors naked to water is proposed. Experiments verified that the developed robot has back drivability underwater.
