NDLI: Design and development of an underwater vehicle with the structure mounted on spheres

Content Provider	IEEE Xplore Digital Library
Author	Rajasegaran, G.N. Taha, G.Z. Ramachandran, S.
Copyright Year	2002
Description	Author affiliation: Fac. of Eng., Malaya Univ., Kuala Lumpur, Malaysia (Rajasegaran, G.N.; Taha, G.Z.)
Abstract	In this work, design and development of an underwater mobile vehicle structure suitable for an underwater mobile robot is described. The mobile structure is constructed from aluminum plates with openings to reduce the resistance to flow of water as the structure traverses its path. Two longitudinal and transverse shafts are used to hold the spheres. The structure is designed and fabricated so that the spheres contact the ground and act as wheels to provide mobility. An underwater motor, through proper transmission provides the, drive for the spheres. The mobile structure is tested for its mobility on the floor and inside water. The speed of the structure on land is more than that inside water. Based on initial results, it is proposed to conduct further tests to check the mobility of the structure at various depths in the forward and reverse directions. Specific advantages of the new design are simple construction with a few mechanical components and simple controls. This design of the underwater structure is very cost effective and can be used in many underwater applications.
Starting Page	1470
Ending Page	1474
File Size	440960
Page Count	5
File Format	PDF
ISBN	9810483643
DOI	10.1109/ICARCV.2002.1234989
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-12-02
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Nanyang Technological Univ
Subject Keyword	Underwater vehicles Service robots Mobile robots Orbital robotics Robotics and automation Robot control Wheels Testing Costs Water resources
Content Type	Text
Resource Type	Article

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