System architecture design for hybrid manipulator

A hybrid manipulator is deployed on an Underwater Robotic Vehicle (URV) for provision of dexterous manipulation during inspection and intervention tasks of subsea facilities. It is a 7 degree-of-freedom robotic arm having a Launching Stage with two hydraulic joints for high power provision and an In...

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Bibliographic Details
Main Author:	Tang, Jui Guan.
Other Authors:	Lau, Michael Wai Shing
Format:	Theses and Dissertations
Published:	2008
Subjects:	DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery
Online Access:	http://hdl.handle.net/10356/5591
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Institution:	Nanyang Technological University

id	sg-ntu-dr.10356-5591
record_format	dspace
spelling	sg-ntu-dr.10356-55912023-03-11T16:56:02Z System architecture design for hybrid manipulator Tang, Jui Guan. Lau, Michael Wai Shing School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery A hybrid manipulator is deployed on an Underwater Robotic Vehicle (URV) for provision of dexterous manipulation during inspection and intervention tasks of subsea facilities. It is a 7 degree-of-freedom robotic arm having a Launching Stage with two hydraulic joints for high power provision and an Inspection Stage with five electric joints for achieving motion precision at the end-effector. Designing and developing a prototype interfacing software module for the inspection stage that fits into the overall hybrid system architecture is the main contribution of this dissertation. Master of Science (Smart Product Design) 2008-09-17T10:54:27Z 2008-09-17T10:54:27Z 2006 2006 Thesis http://hdl.handle.net/10356/5591 Nanyang Technological University application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
topic	DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery
spellingShingle	DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery Tang, Jui Guan. System architecture design for hybrid manipulator
description	A hybrid manipulator is deployed on an Underwater Robotic Vehicle (URV) for provision of dexterous manipulation during inspection and intervention tasks of subsea facilities. It is a 7 degree-of-freedom robotic arm having a Launching Stage with two hydraulic joints for high power provision and an Inspection Stage with five electric joints for achieving motion precision at the end-effector. Designing and developing a prototype interfacing software module for the inspection stage that fits into the overall hybrid system architecture is the main contribution of this dissertation.
author2	Lau, Michael Wai Shing
author_facet	Lau, Michael Wai Shing Tang, Jui Guan.
format	Theses and Dissertations
author	Tang, Jui Guan.
author_sort	Tang, Jui Guan.
title	System architecture design for hybrid manipulator
title_short	System architecture design for hybrid manipulator
title_full	System architecture design for hybrid manipulator
title_fullStr	System architecture design for hybrid manipulator
title_full_unstemmed	System architecture design for hybrid manipulator
title_sort	system architecture design for hybrid manipulator
publishDate	2008
url	http://hdl.handle.net/10356/5591
_version_	1761781683009355776

System architecture design for hybrid manipulator

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