Development of underwater robots for under water inspection and cleaning applications

Abstract

The main aim of the thesis was to design a robot arm for underwater purpose. Underwater exploration is harsh due to the environment down inside ocean so in order to solve the problem a robot arm which is feasible in that harsh environment has been designed in his research. To design the robot arm two different approaches were used. First approach was designing of robot arm for designated robot body followed by the second approach which included the forward and inverse kinematics for the robot arm. Calculation was done to conclude the task space of the robot arm. The results were achieved after the modeling of the robot and then the calculation results.

As the result of modeling the robot arm and kinematic model of the robot arm a functional robot arm was obtained with designated workspace. Based on the result a bigger robot arm can be designed to have larger workspace as well.