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    The document discusses applications of robotics in underwater environments. It describes the DART project which aims to design autonomous robotic tools for specific underwater tasks. One project under DART is UMAR, a robotic arm designed to operate at depths of up to 3000 meters and replace components on offshore oil rig structures. The arm uses a novel parallel drive system to precisely maneuver payloads of up to 50 kg. A second project is developing a special purpose robotic arm for deep sea interventions from 2000-3000 meters depth, using a parallel kinematic design to easily align with structures and redundant tools to replace components without repositioning. The arm is being tested for its ability to perform maintenance tasks on underwater oil rig structures.

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    The document discusses applications of robotics in underwater environments. It describes the DART project which aims to design autonomous robotic tools for specific underwater tasks. One project under DART is UMAR, a robotic arm designed to operate at depths of up to 3000 meters and replace components on offshore oil rig structures. The arm uses a novel parallel drive system to precisely maneuver payloads of up to 50 kg. A second project is developing a special purpose robotic arm for deep sea interventions from 2000-3000 meters depth, using a parallel kinematic design to easily align with structures and redundant tools to replace components without repositioning. The arm is being tested for its ability to perform maintenance tasks on underwater oil rig structures.

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    16 views1 page

    Application in Robotics

    Uploaded by

    lucapozzo53
    The document discusses applications of robotics in underwater environments. It describes the DART project which aims to design autonomous robotic tools for specific underwater tasks. One project under DART is UMAR, a robotic arm designed to operate at depths of up to 3000 meters and replace components on offshore oil rig structures. The arm uses a novel parallel drive system to precisely maneuver payloads of up to 50 kg. A second project is developing a special purpose robotic arm for deep sea interventions from 2000-3000 meters depth, using a parallel kinematic design to easily align with structures and redundant tools to replace components without repositioning. The arm is being tested for its ability to perform maintenance tasks on underwater oil rig structures.

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    APPLICATIONS IN ROBOTICS

    http://www.dimec.unige.it/PMAR/

    Diving Autonomous Robotic Tool

    The DART concept aims at the design of a set of diving autonomous robotic tools, purposely addressing specific underwater tasks, so that individual pieces of equipment could be offered as effective and cheap solution of given industrial requests. Under these premises the UMAR (Undersea Marine Arm Research) project has been undertaken: it consists of a robotic arm to be used in the offshore oil and gas market, e.g. to change out a light control module on a XMAS tree, but with multi-function capabilities. It is designed to afford a range of deep water intervention tasks up to 3000 msw, with typical operation at about 2000 msw, with a payload capacity of 50 kg. The innovative parallel drive, based on a pantograph, allows precise manoeuvres to perform substitution and replacement of the valves without additional displacement or re-alignment of the vehicle and presents the high stiffness required for remotely operated missions in hostile environments. Assessment of feasibility of both mechanical structure and operativity of the missions has been performed by mean of VR simulations.

    The project deals with the conceptual design and operation assessment of a special purpose robotic device, suitable for deep-sea interventions, at about 2000 msw, up to 3000 msw, with payload of some 100 kg, as required by forecoming applications for offshore oil and gas prospection. The arm characterises by architectural and functional innovation, namely: - parallel kinematics, to grant easy line-up with the Xmas-tree rack and help vehicle manoeuvring and mooring duties; - tool redundancy, to replace servo-valves, sensors or small actuators without needing to re-locate or re-align the vehicle. The study is focussed on an actual application case, aiming at decreasing the costs of repeated maintenance tasks on deep water Xmas-trees for the desired setting, repairing or replacement operations. The functional tests verify appropriateness and performance of the selected arm for the planned duties, with checks on the possibility to perform further interventions.

    Parallel kinematic robotic arm for deep sea operations

    University of Genova

    Integrated Design in Robotics, Expert Automation and Measurement Laboratory e-mail: pmar@dimec.unige.it

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