Computer aided kinematics and dynamics of mechanical systems. Vol. 1: basic methods
Computer aided kinematics and dynamics of mechanical systems. Vol. 1: basic methods
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations
Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations
Dynamic virtual environment to test teleoperated systems with time delay communications
Journal of Robotic Systems
Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems (Springer Tracts in Advanced Robotics)
IEEE Transactions on Robotics
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REMO I Robot is a novel application of a parallel structure as an underwater robot of 6 DoF. Compared to other underwater robots, navigation of REMO I Robot is performed by the capability of its parallel structure to modify its geometric structure (thruster and front ring) and to displace by itself. This kinematic property of the parallel platform allows vectorial formation of thrusting forces to take place. Remo I Robot has just one single thruster in its rear ring, therefore the vectorial navigation gives maneuverability, flexibility, and holonomic capabilities for its navigation and positioning. The latter is important for intervention and manipulation tasks. That is why it gives a solid alternative when compared to traditional submarine robots such as shown in the simulation results and experiments performed using a real prototype. In conclusion, this paper proposes a conceptual frame for the development of underwater parallel robots. Moreover, it also points out the experience acquired from the development of the underwater Remo I Robot.