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Publication Citation: Stability of an Underwater Work Platform Suspended from an Unstable Reference

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Author(s): Roger V. Bostelman; James S. Albus;
Title: Stability of an Underwater Work Platform Suspended from an Unstable Reference
Published: October 20, 1993
Abstract: A work platform suspended by six cables and controlled by six winches located on a v e s s e l , can precisely control the position, velocity, and force of tools, grippers, and machinery in all s i x degrees of freedom (x, y, z, roll, pitch, and yaw) while the vessel is moving due to sea surface conditions. Based on the Robocrane, the platform can be maneuvered via operator controls (eg. a joystick) for doing work without disturbance of the sea bottom by controlling the cable tensions and buoyancy of the work platform. Large forces and torques can be exerted with the work platform while being controlled from a remote position. Many applications are possible: from underwater pipelaying/ repair to construction, in other than mild weather conditions.
Conference: Oceans '93 Conference
Proceedings: Proceedings of the Oceans '93 Conference
Location: Victoria, BC
Dates: October 20, 1993
Keywords: large loads;precise;sensors;six cables;stable;stewart platform;unstable
Research Areas:
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