水中でのアセンブリ作業に資するヘキサ型パラレルリンクの開発

抄録

Japan is one of the rich countries from the point of view of ocean mineral resources. However, present mining ocean mineral resources are not unprofitable. We believe that the underwater metallurgical process is useful for the stable supply of resources. Underwater assembly is required to construct a plant that carries out metallurgical work. Underwater assembly is carried out by a Remotely Operated Vehicle (ROV) with a robot arm. The arm’s actuators should incline to the arm’s inertia, and the arm is thinner from the point of view of ROV’s posture control. Therefore, this paper proposes Hexa type parallel link as an ROV arm and executes validation underwater.