Design of Remotely Operated Vehicles Sample Storage Apparatus

• Main Authors: Kuo-Chih Wang, 王國誌
• Other Authors: Chau-Chang Wang
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/65093285261039241245

碩士 === 國立中山大學 === 海下科技暨應用海洋物理研究所 === 98 === For amanipulator to carry outmultiple sampling tasks in a single ROV dive, the samples collected need to be stored temporarily in a secure space to free the gripper for the next sampling. The goal of this research is to design and fabricate a sample holding device to improve the efficient of the ROV which was developed jointly by National Sun Yat-sen University and National Cheng-Kung University. The sample bay mounted on a linear track, moves forward to be in the workspace of the manipulator for the storage service. Upon completion of the sample storage tasks, it retrieves back into the ROV frame to prevent itself from being hit or damaged when the ROV is in motion. The development includes the design for a linear track, an underwater motor and its controller, and sample holder. The design of the sample holder was implemented by decision weighting matrix to choose the most appropriate prototype. The efficacy of the system was verified by several joint tests with the manipulator.