Title:
APPARATUS AND METHOD FOR CONTROLLING POSITION AND BUOYANCY OF UNDERWATER ROBOT
Document Type and Number:
WIPO Patent Application WO/2014/007443
Kind Code:
A1
Abstract:
The present invention relates to an apparatus and a method for controlling the position and buoyancy of an underwater robot, wherein the buoyancy and center of gravity of the robot in the front, back, right, and left directions can be controlled. An apparatus for controlling the postion and buoyancy of an underwater robot according to one embodiment of the present invention comprises: a cylinder provided with a water inlet/outlet at one end; an eccentric piston linearly moving inside the cylinder so as to introduce/discharge liquid with respect to the inside of the cylinder through the water inlet/outlet; a first actuator connected to the eccentric piston so as to linearly move the eccentric piston; a prismatic joint mounted on the eccentric piston; and a second actuator connected to the prismatic joint so as to control a rotation angle of the eccentric piston.
Inventors:
RYUH YOUNG-SUN (KR)
YANG GI-HUN (KR)
YANG GI-HUN (KR)
Application Number:
PCT/KR2012/011201
Publication Date:
January 09, 2014
Filing Date:
December 20, 2012
Export Citation:
Assignee:
KOREA IND TECH INST (KR)
International Classes:
B25J19/00; B63B43/10; B63C11/48
Foreign References:
| JP2001247086A | 2001-09-11 | |||
| KR20120072068A | 2012-07-03 | |||
| JP2005270126A | 2005-10-06 | |||
| KR20000032190A | 2000-06-05 | |||
| JP2003127974A | 2003-05-08 |
Attorney, Agent or Firm:
LEE, Chang Buhm et al. (KR)
이창범 (KR)
이창범 (KR)
Download PDF: