Title :
Development of a ball type of underwater robot
Author :
Guo, Shuxiang ; Hata, Seiji ; Tanaka, Koujirou ; Ishii, Kouhei
Author_Institution :
Dept. of Intell. Mech. Syst. Eng´´g, Kagawa Univ., Kagawa, Japan
Abstract :
It is our purpose to develop a novel ball type of underwater robot that has the characteristics of flexibility, driven by wireless remote controller, good response and safety. This paper proposes a novel type of underwater robot utilizing servo motors as the actuator to realize moving motion. We also discuss the structure, motion mechanism and characteristic evaluation of the robot. The experimental results illustrated that the developed robot has characteristics of compact volume, quick response. And also the running speed control can be easily performed by frequency adjustment.
Keywords :
marine systems; mobile robots; motion control; safety; servomechanisms; telecontrol; ball type; characteristic evaluation; flexibility characteristics; motion mechanism; safety; servomotors; underwater robot; wireless remote controller; Actuators; Intelligent robots; Medical diagnostic imaging; Medical robotics; Orbital robotics; Pulse width modulation; Robotics and automation; Service robots; Servomechanisms; Servomotors; Ball Type of Robot; Medical Application; Micro actuator; Micro mechanism; PWM Control; Underwater Robot;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246153
