This research involves the design, manufacture, and testing of a small, < lm³, < 1Okg, low cost, unmanned submersible. High maneuverability in the ROV as achieved through a high thrust-to- mass ratio in all directions. One identified solution is moving the primary thrusters in both the pitch and yaw directions. The robot is propelled by a pair of 2 DOF thrusters, and is directly controlled in heave, surge, sway, yaw, and roll. Pitch is controlled through passive buoyancy and, potentially, active manipulation of added mass and gyroscopic effects. This system is compared against a traditional fixed-thruster system in terms of cost, size, weight, and high/low speed performance. Preliminary results indicate that the actuated system can provide an improved thrust-to-mass metric at the expense of increased system complexity. This margin of improvement increases with increasing thruster size. The system has applications in high accuracy positioning areas such as ship hull inspection, recovery, and exploration.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Design and control of an high maneuverability remotely operated vehicle with multi-degree of freedom thrusters.
    High maneuverability remotely operated vehicle with multi-degree of freedom thrusters



    Erscheinungsdatum :

    2005


    Format / Umfang :

    72 pages , 3746917 byte , 3749505 byte


    Anmerkungen:

    Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.
    Includes bibliographical references (leaf 72).


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Six-degree-of-freedom high-maneuverability omnidirectional unmanned aerial vehicle

    CHEN WENBIN / WANG CHAO / YANG YI et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    RANCANG BANGUN 4 DOF (DEGREE OF FREEDOM) UNDERWATER REMOTELY OPERATED VEHICLE (ROV)

    Rachmansyah, Yoki / Rahmat, Mamat / Ahmad, Anton Royanto et al. | BASE | 2019

    Freier Zugriff

    Remotely Operated Vehicle

    CHO HYUN JOON / KIM DO GYUN / BAEK SEON MIN et al. | Europäisches Patentamt | 2018

    Freier Zugriff

    REMOTELY OPERATED VEHICLE

    Europäisches Patentamt | 2017

    Freier Zugriff