Development of an Underwater Manipulator for Use on a Free-Swimming Unmanned Submersible.

Abstract

The inspection of underwater objects such as pipelines and structures can be made more cost-effective through the development and use of unmanned, free-swimming (untethered) submersibles. A critical adjunct is a manipulator capable of emplacing sensors, positioning imaging subsystems, and retrieving small objects. A small, lightweight, electrically driven manipulator capable of handling an 8-pound load in water was designed, developed, and tested at NOSC. The oil-filled, pressure-compensated motor assembly design, incorporating potentiometer feedback and harmonic drive gearing, represents one of the most compact designs of its kind. Sleek exterior design, together with smooth, quiet operation, are noteworthy features. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1980
Accession Number
ADA096435

Entities

People

  • Paul J. Heckman Jr.
  • Peter Bosse

Tags

Communities of Interest

  • Advanced Electronics
  • Autonomy
  • Energy and Power Technologies
  • Ground and Sea Platforms
  • Sensors

DTIC Thesaurus Topics

  • Aluminum Foil
  • Ball Bearings
  • Cameras
  • Computers
  • Control Systems
  • Fittings
  • Joints
  • Materials
  • Materials Laboratories
  • Measurement
  • Measuring Instruments
  • O Rings
  • Photographs
  • Remotely Piloted Vehicles
  • Resistance
  • Soldered Joints
  • Supervisory Control

Readers

  • Aerospace Engineering
  • Robotics and Automation.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy