When carrying out sampling tasks close to the ocean bottom, a ROV keeps station at a fixed position and compensates the tether effects and currents. However, the operation of ROV thrust propellers for station keeping might stir up sediment and cause poor visibility, which forces ROV operators to stop work until the sediment clears. The purpose of this thesis, therefore, is to design and fabricate a seafloor moving platform able to approach steadily to sampling objects without stirring up much sediment. This moving platform must be combined with the second generation NCKU-NSYSU ROV, a sampling manipulator, and a sample storage apparatus. Also, the moving platform requires some capabilities for travel over relatively smooth seafloor. A wheel-driven mobile platform, as a result, is developed, in which the front wheels and rear wheels are respectively driven by two separately provided DC motors. The required power and serial command signals are transmitted to the platform via the second generation NCKU-NSYSU ROV. A four-bar linkage for steering font wheels is designed to work close to the Ackerman condition, and a chain-and-sprocket drive train is used to transfer power to the rear wheels. The motor controllers used for controlling DC motors are constructed based on MSP430 MCU (Micro Controller Unit). The preliminary driving performance of the platform is tested. The testing results indicate that the moving platform can drive steadily and behave as expected.
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0116109-175942 |
| Date | 16 January 2009 |
| Creators | Yu, Ming-jia |
| Contributors | Chau-chang Wang, Hsin-hung chen, Chi-cheng Cheng |
| 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-0116109-175942 |
| Rights | not_available, Copyright information available at source archive |
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