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Title: System architecture design for hybrid manipulator
Authors: Tang, Jui Guan.
Keywords: DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery
Issue Date: 2006
Abstract: A hybrid manipulator is deployed on an Underwater Robotic Vehicle (URV) for provision of dexterous manipulation during inspection and intervention tasks of subsea facilities. It is a 7 degree-of-freedom robotic arm having a Launching Stage with two hydraulic joints for high power provision and an Inspection Stage with five electric joints for achieving motion precision at the end-effector. Designing and developing a prototype interfacing software module for the inspection stage that fits into the overall hybrid system architecture is the main contribution of this dissertation.
Schools: School of Mechanical and Aerospace Engineering 
Rights: Nanyang Technological University
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Theses

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