A Single-arm Underwater Robot with Thrusters for Both Adsorption and Propulsion “Lampray-1”

-Basic Design and Verification of Neutral Buoyancy-

Abstract

This paper proposes a single-arm underwater robot with thrusters for both adsorption and propulsion. Here, as a beginning of the study, the conceptual design of the robot is described, which includes the motor and reducer selection, design of the center of the gravity and buoyancy to make it suspend underwater environment. Actual fabrication was achieved and finally the neutral buoyancy test was examined.