A Modular Open-Source Continuum Manipulator for Underwater Remotely Operated Vehicles

Justin L. Sitler, Long Wang

Research output: Contribution to journalArticlepeer-review

9 Scopus citations

Abstract

Continuum manipulators are a class of robots with many degrees-of-freedom, leading to highly flexible motion with inherent compliance. These attributes make them well suited for manipulation tasks and physical interaction with the environment. A high impact yet challenging field for exploring continuum robot designs is free-floating underwater manipulation with a remotely operated vehicle (ROV). In this article, we propose a modular, reconfigurable, cable-driven continuum arm for free-floating underwater manipulation and present a corresponding kinematics, control, and computation framework. The mechanical design consists of a continuum arm, an actuation unit, and a waterproof enclosure. The kinematics model is introduced as two mappings between three spaces: the joint space, the configuration space, and the task space. The differential kinematics for each mapping is also derived. An electronics system design is proposed for underwater applications, including the communication framework between the topside computer (above surface), on-board computer, and manipulator mechatronics. Experimental validation is presented to demonstrate the robot's underwater functionality, test the limits of its articulation, and evaluate the arm's stiffness. Future work includes field testing with an ROV platform and development of advanced controls and planning for manipulation tasks.

Original languageEnglish
Article number060906
JournalJournal of Mechanisms and Robotics
Volume14
Issue number6
DOIs
StatePublished - Dec 2022

Keywords

  • bio-inspired design
  • cable-driven mechanisms
  • compliant mechanisms
  • mechanism design
  • robot design
  • theoretical kinematics

Fingerprint

Dive into the research topics of 'A Modular Open-Source Continuum Manipulator for Underwater Remotely Operated Vehicles'. Together they form a unique fingerprint.

Cite this