EXPERIMENTAL AND THEORETICAL EVALUATION OF THE BUOYANCY AND GRAVITY-DRIVEN UNDERWATER ROBOTS


GUMUSEL L. , BAZ A.

ROBOTICA, vol.13, pp.273-286, 1995 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 13
  • Publication Date: 1995
  • Doi Number: 10.1017/s026357470001780x
  • Title of Journal : ROBOTICA
  • Page Numbers: pp.273-286

Abstract

The dynamic model of a new class of underwater robot is derived and the validity of the model is checked experimentally. Close agreements between theory and experiment are attained. The interaction between the buoyancy and gravity forces acting on the robot arm, present in the underwater environment, is used to generate torques necessary to move the arm. The mathematical model of a multi-arm robot is developed to define the interaction between the dynamics of the moving weight and the robot links under the action of the resisting water drag and other external forces. The Lagrangian method is used in the formulation of the arm dynamics. The developed dynamic equations serve as means for designing the control laws necessary for controlling the position of the different joints of the robots. The study indicates that the buoyancy and gravity-driven robot can position a payload accurately as well as at a fairly fast speed of response. It is indicated from the theoretical and experimental study that the arm motion is created by a small displacement of moving weight on the power screw. Therefore, power requirement of this type of robot is just as enough to overcome the friction between the power screw and the moving weight. This features emphasize the potential of the concept as a viable means for driving underwater robots.