Towards a Pantograph-based Interventional AUV for Under-ice Measurement

This paper addresses the design of a novel interventional robotic platform, aiming to perform an autonomous sampling and measurement under the thin ice in the Antarctic environment. We propose a pantograph mechanism, which can effectively generate a constant interaction force to the surface during t...

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Bibliographic Details
Main Authors: Byun, Hongkyoon, Kim, Jonghyuk, Liu, Dikai, Woolfrey, Jonathan
Format: Article in Journal/Newspaper
Language:unknown
Published: arXiv 2021
Subjects:
Robotics cs.RO
Systems and Control eess.SY
FOS Computer and information sciences
FOS Electrical engineering, electronic engineering, information engineering
Antarctic
The Antarctic
Antarc*
Online Access:https://dx.doi.org/10.48550/arxiv.2109.14182
https://arxiv.org/abs/2109.14182
Description
Summary:This paper addresses the design of a novel interventional robotic platform, aiming to perform an autonomous sampling and measurement under the thin ice in the Antarctic environment. We propose a pantograph mechanism, which can effectively generate a constant interaction force to the surface during the contact, which is crucial for reliable measurements. We provide the proof-of-concept design of the pantograph with a robotic prototype with foldable actuation, and preliminary results of the pantograph mechanism and the localisation system are provided, confirming the feasibility of the system.

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