Underwater Parallel Robot for oceanic measuring and observations-REMO I: development and navigation control advances

摘要

The REMO I is a remotely teleoperated underwater vehicle developed for measuring and observing maritime environments as its mandatory task. This robot has been built based on a parallel structure (Stewart-Gough platform), with the capability of changing its geometry in order to facilitate the navigation within complex maneuvers. In addition, both orientation and propulsion systems can change in order to provide even more underwater dexterity. A thruster located in the back of its structure, which drives the vehicle forward, composes the main propulsion system of the robot. This extended abstract briefly introduces some fundamental issues related to the mechanical design, instrumentation and the control capabilities of this system.