2A2-M04 Development of An Underwater Robot with Soil Sampling Function obtained by Thrusters : The second report:Experimental Verification(Underwater Robot and Mechatronics)

• SASAKI Shinnosuke

  Ritsumeikan University

• KAWABATA Michitaka

  Ritsumeikan University

• YOKOI Kenshirou

  Ritsumeikan University

• SAKAGAMI Norimitsu

  Tokai University

• MATSUDA Shinji

  Oyo-corporation

• MITSUI Atsushi

  Oyo-corporation

• SANO Ko

  Oyo-corporation

• TAGO Kouichi

  Oyo-corporation

• KAWAMURA Sadao

  Ritsumeikan University

Bibliographic Information

Other Title

• 2A2-M04 スラスタ推力による採泥機能を有する小型水中ロボットの開発 : 第2報 実験による性能評価(水中ロボット・メカトロニクス)

Abstract

We develop a new underwater robot for core sampling in this paper. Conventionally, penetration of a sampler into soil is done by gravity in many cases. The penetration force of the developed underwater robot is generated by the thrusters installed on the robot. Since the robot has naturalbuoyancy, it can be easily moved by the thruster force. The system hardware is explained and the basic performance of the developed robot is described. Moreover, the experimental result at Lake Biwa shows the usefulness of the robot for core sampling.

Journal

• The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (0), _2A2-M04_1-_2A2-M04_2, 2013

  The Japan Society of Mechanical Engineers

Keywords

• Under water robot
• Soil sampling
• Neutral buoyancy

Details

• CRID: 1390001205937687936
• NII Article ID: 110009963993
• DOI: 10.1299/jsmermd.2013._2a2-m04_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2013/0/2013__2A2-M04_1/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed