NDLI: Design of move-in-mud Robot and kinematics modeling

Content Provider	IEEE Xplore Digital Library
Author	Qingmei Yang Qingxin Meng Jianmin Sun Zhixing Wang
Copyright Year	2004
Description	Author affiliation: Mechatronic Eng. Coll., Harbin Inst. of Technol., China (Qingmei Yang)
Abstract	Move-in-mud Robot is a kind of autonomous service robots, which is used to substitute for excavating hole underwater in wreck salvage by a diver. The robot can excavate hole in mud according to a planned trajectory underwater. It can increase the efficiency of excavating hole and improve working condition of the diver. There is great importance in research on the move-in-mud robot. The structure project of move-in-mud robot based on the creepage principle is put forward in this paper according to the analyses of several projects. The robot's work principle and the movement process are analyzed. The kinematics modeling of the move-in-mud robot is researched in this paper. With ADMAS software, the dynamic simulation model of move-in-mud is established. All the studies establish a foundation for further research on the move-in-mud Robot.
Sponsorship	Zhejian Univ. Nat. Lab. of Ind. Control Technol. IEEE Robotics and Automation Soc. Nat. Natural Sci. Found. of China Chinese Assoc. of Automation
Starting Page	4627
Ending Page	4630
File Size	278004
Page Count	4
File Format	PDF
ISBN	0780382730
DOI	10.1109/WCICA.2004.1342396
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Marine vehicles Service robots Robotics and automation Mechatronics Educational institutions Employee welfare Marine technology Steel Underwater cables
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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