Kinematic design and analysis of a 7 degree-of-freedom dual-stage inspection manipulator for dexterous subsea applications

• Main Authors: Asokan, Thondiyath, Seet, Gerald, Iastrebov, Viatcheslav, Senanayake, Rohan
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Mechanical engineering; Underwater Manipulator; Subsea Inspection
• Online Access: https://hdl.handle.net/10356/144534
• Institution: Nanyang Technological University

This paper describes the design of a 7 degree-of-freedom (d.o.f) manipulator for underwater inspection applications. The functional requirements of an underwater manipulator for subsea inspection are discussed and the desired performance requirements identified. The inspection process of a weld join...