System architecture design for hybrid manipulator

• 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
• Institution: Nanyang Technological University

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...