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1999 Projects

Current Projects

Green_Ball.gif (257 bytes) Benthic processes
Green_Ball.gif (257 bytes) Midwater research
Green_Ball.gif (257 bytes) Upper ocean biogeochemistry
Green_Ball.gif (257 bytes) New research platforms
Green_Ball.gif (257 bytes) ROV improvements
Green_Ball.gif (257 bytes) Mooring improvements
Green_Ball.gif (257 bytes) New in-situ Instruments
Green_Ball.gif (257 bytes) Information management and archiving
Green_Ball.gif (257 bytes) Education and outreach
Green_Ball.gif (257 bytes) 1998 Projects
Green_Ball.gif (257 bytes) 1997 Projects


1999 Projects: ROV improvements

Interchangeable end effector

Project lead/manager: Mark Brown
Project team: Kurt Buck, T. Craig Dawe, Dale Graves, Mark Greise, Craig Okuda, and Michael Parker

The nature of the sub-sea environment (high pressure and a corrosive medium) makes the task of tool changing especially challenging. The current state of technology for sub-sea robotics includes a manipulator "arm" equipped with an end effector, or "hand," which is typically a robust, one-function jaw mechanism. Land-based robotic manipulators have an additional capability that enables the "arm" to change the tooling at the work site and perform multiple tasks. This capability to change the end-effector tooling expands the functionality of the manipulator and increases the number of tasks that can be accomplished by the system.

This project will take the first step in simplifying the job of tool changing by limiting the current  electrical-hydraulic-mechanical interface requirement to a strictly mechanical one. This can be accomplished within the end-effector tooling itself, by incorporating the hydraulic and/or electrical power on the tool itself instead of channeling the power directly through the arm. Once a reliable, effective coupling mechanism is designed and tested, individual end-effectors can be designed to meet the common interface, and an array of tools can be made available to the user.

Next: Benthic box-core system

Last updated: 07 October 2004