To expand the ability of collecting underwater targets of "Remotely Operated Vehicle II", developed by National Sun Yat-sen University and National Cheng Kung University, this research will develop an underwater manipulator system which can be integrated with ROV II to have enough degrees of freedom to carry out sampling. The goal will focus on mechanism design and to distinguish the assemble restrictions from other mechanism modules. To avoid use of hydraulic pressure apparatus, the manipulator system will use electric motors as the source of drive, which feeds on ROV II's electricity. In mechanical design, water tightness of underwater manipulator system is first considered to avoid damage of internal electric components. Therefore, in this research, suitable waterproof components will be selected separately for static and dynamic machine parts, and dimension and tolerance of assembly of waterproof components will be analyzed. Then, according to decided design conditions, the number of degrees of freedom of the manipulator and range of length of the arm will be decided. The final design model will be constructed, and selection of motors will be finished by 3D Computer Aided Solid Drawing Software. To have a manipulator system which can deal with different targets, the gripper design needs to consider to easily replacement. In the aspect of systematic control, commercial motor control card and motor driver chip are used to carry out the structure of the entire control system, and develop control interface by C language to easily control each joint of the manipulator system.
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0116109-183424 |
| Date | 16 January 2009 |
| Creators | Huang, Chao-yu |
| Contributors | Hsin-Hung Chen, Chi-Cheng Cheng, Chau-Chang Wang |
| Publisher | NSYSU |
| Source Sets | NSYSU Electronic Thesis and Dissertation Archive |
| Language | Cholon |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0116109-183424 |
| Rights | not_available, Copyright information available at source archive |
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