THE PROSPECT OF AN UNDER WA TER NA VAL ROBOT

摘要

ABSTRACT This paper explores the concept of an underwater robot manipulator mounted on an unmanned submersible for the purpose of doing some undersea tasks of interest to the U.S. Navy. The robot concept is compared with other methods of doing work underwater and its strengths and weaknesses are enumerated. Such a robot would be able to do only simple, well‐defined tasks, but it would probably be the most economical way of doing those jobs which are within its competence. The jobs which such a device might be able to do are listed and evaluated in terms of how easy or difficult they are for a robot to do. From this analysis some conclusions are drawn about what capabilities are needed in such a robot. It is concluded that speed of operation is not critical (In contrast to robots which are intended for industrial jobs), but that the ability to cope with unexpected conditions and to recover from mistakes is very important. Next, existing robot technology and past research***are discussed and evaluated in terms of the needs of an underwater naval robot. Gaps in the technology are identified, and, finally, me suggestions for research are given.