AI Technology for Underwater Robots by Frank Kirchner & Sirko Straube & Daniel Kühn & Nina Hoyer

Author:Frank Kirchner & Sirko Straube & Daniel Kühn & Nina Hoyer
Language: eng
Format: epub
ISBN: 9783030306830
Publisher: Springer International Publishing

Methods

Modular System Design

To achieve reconfigurability, reusability, and versatility of manipulators and their underlying components, we propose a modularized approach to manipulator system design. The DFKI has already pursued such an approach in various projects in the field of space robotics [4, 5]. The advantages consist in the fact that components with a high degree of technological maturity can be made available on the module level and suitable manipulator systems can be compiled according to the mission requirements. Further advantages of modularization are the lower manufacturing costs for the modules due to the high number of units, the availability through stock-keeping, and the possibility of rapid replacement with spare part modules.

Based on the developments and experiences gained in the space related projects, a modular system design concept for electrically powered underwater actuator modules was developed. The compact integrated modules (see Fig. 1) consist of an inner rotor brushless direct current (BLDC) motor connected to a harmonic drive gear, which are mounted in a custom designed aluminum structure with appropriate bearing. A hollow shaft allows routing a cable loom axial through the actuator. An electronics stack fixed to the unit provides the motor driver as well as circuits and logic for control, data acquisition, and communication implemented in a Field Programmable Gate Array (FPGA). The modules provide good accessibility for integration as well as calibration and are easy to maintain. Three actuator modules with different size and performance classes were developed. The modules described are neither waterproof nor pressure-resistant on their own.

Fig. 1Actuator modules

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