Page 506 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition

Manipulators
CHAPTER CONTENTS
19
19.1 Background ................................................................................................................................ 504
19.1.1 Basicrobotics......................................................................................................506
19.1.2 Manipulator mechanics and control........................................................................ 506 19.1.2.1 The base........................................................................................................508 19.1.2.2 Links..............................................................................................................509 19.1.2.3 Joints.............................................................................................................509 19.1.2.4 Translational versus rotational transformation .................................................. 509 19.1.2.5 Actuator.........................................................................................................511 19.1.2.6 Manipulator/wrist/endeffectorcombination.....................................................511 19.1.2.7 Endeffector...................................................................................................512 19.1.2.8 Manipulatorcontrol........................................................................................513 19.1.2.9 Sensorsandcontroller....................................................................................514
19.2 Manipulatortypes.......................................................................................................................515 19.2.1 Grabbers..............................................................................................................515 19.2.2 Dexterous arms .................................................................................................... 517
19.3 Joint design................................................................................................................................519
19.4 Range of motion and workspace ..................................................................................................521
19.5 Types of controllers ....................................................................................................................521 19.5.1 Ratecontrol.........................................................................................................523 19.5.2 Positioncontrol....................................................................................................524 19.5.3 Force feedback control.......................................................................................... 525
19.6 Hydraulic versus electrical power................................................................................................525
19.7 Subsea interface standards .........................................................................................................527
19.7.1 Manipulator operation of the interface .................................................................... 529
19.7.2 Manipulator-heldtooling.......................................................................................529
19.7.3 Tool deployment unit ............................................................................................ 529
19.7.4 Remotely operated tooling (dual downline intervention) ........................................... 530
19.7.5 Toolskid..............................................................................................................531
19.7.6 Toolingstabilizationtechniques.............................................................................532
19.7.7 Standardssummary..............................................................................................532
19.7.8 Subsea facility and tooling design .......................................................................... 532
19.7.9 Specificinterfacestandards..................................................................................534
The ROV Manual.
© 2014 Robert D Christ and Robert L Wernli. Published by Elsevier Ltd. All rights reserved.
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