A six degree-of-freedom (DOF) industrial robot was improved for underwater application by GKSS-Forschungszentrum and Siemens AG, Bergisch Gladbach, under sponsorship of the Bundesministerium fuer Forschung und Technologie (BMFT). In test series the robot was operated in wet and dry environment down to a simulated depth of 1100 m, and it was certified for work under deep sea conditions by the classification society Germanischer Lloyd, Hamburg. Additionally the robot has carried out test cycles of inspection tasks at a pipe node structure guiding CCD-cameras and NDT-sensors in current water conditions. This experimental work is accompanied by off-line programming and graphical simulation. The results evidence the possibility to replace men from work in hazardous and hostile environment by automated procedures. (orig.) With 6 figs.


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    Title :

    Six DOF robot allows diverless intervention


    Contributors:
    H. R. Niemann (author) / E. Aust (author) / M. Gustmann (author) / G. Hahn (author)

    Publication date :

    1992


    Size :

    14 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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