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| Diaz, C. |
| In remote control, the master element which the user operates looks for practical and historical reasons like the slave arm and therefore features a series architecture, with a few drawbacks in terms of mass, dimensions, rigidity and mechanical complexity. To remedy these defects, we are now introducing a new master element with parallel kinematics. This syntactor, derived from Steward's manipulators, has six degrees of freedom and comprises six motor-driven links arranged on a fixed plate (the base) and a moving plate on which a 6-axis force transducer and a handle are mounted. The device is made artificially free along a few or all axes by means of a hybrid position/force control software which translates the wrench of forces applied by the operator on... |
| Tipo: Text |
Palavras-chave: Transducers; Manipulators; Robots; Marine technology; Kinematics. |
| Ano: 1990 |
URL: http://archimer.ifremer.fr/doc/1990/acte-1142.pdf |
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| Duncan, N. |
| Pressures of economics are driving the ROV industry to develop NDT equipment which will allow the ROV to detect, and assess, the presence of fatigue induced surface breaking defects in nodal welds and their associated heat affected zones. Two main techniques of NDT are currently being developed by Comex to provide ROV services to meet client needs. One is an MPI system and the other an Eddy Current system. Both are derivatives of equipment currently being used successfully by divers in the North Sea. The two systems are complementary to each other rather than in competition and offer a high degree of defect evaluation. This paper will discuss the requirements placed on the tool deployment system by the task, the worksite, the ROV characteristics and the... |
| Tipo: Text |
Palavras-chave: Nondestructive testing; Manipulators; Marine technology; Unmanned vehicles. |
| Ano: 1990 |
URL: http://archimer.ifremer.fr/doc/1990/acte-1160.pdf |
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| Durand, D; Domingo, J; Levallois, E. |
| This system is composed of a high accuracy hydraulic manipulator arm with 6 degrees of freedom, for high loads (2000 daN), using ultrasound proximetry and contact force measurement data to carry out the subsea connection of bottom oil wells. An expert system controls the connection phases and generates the sequences of commands to be executed by the robot. The safety systems and failure modes are also taken into account. A graphic operator station provides easy control. Each connection phase generates a graphic representation of the robot status and all the proprioceptive and exteroceptive sensors. The control/command system, although it is designed to carry out a subsea connection by means of a manipulator arm, can be adapted to any type of process. For... |
| Tipo: Text |
Palavras-chave: Marine technology; Acoustics; Connecting; Connectors; Oil wells; Sensors; Hydraulics; Robots; Manipulators. |
| Ano: 1990 |
URL: http://archimer.ifremer.fr/doc/1990/acte-1155.pdf |
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