Technical Note N-1158 UNDERWATER MANIPULATIVE CONSTRUCTION SYSTEMS (UMCS)

摘要

The principles of manipulation are discussed and an Underwater Manipulative Construction System (UMCS) is discussed in detail, and existing manipulator systems for underwater work are described. A UMCS is a remote handling system which is intended to perform useful construction operations in the submarine environment, providing a means by which man can meet underwater construction requirements while being protected from the environment. A UMCS consists of seven interrelated elements: a manipulator arm, tools or terminal devices, a control system, a feedback loop, power, a working platform, and the work object. (Author)