Design and construction of a submarine with five degrees of freedom

Abstract

One area that has seen an increase in recent years research either for academic research and industrial applications, is the use of submersible robots. There are two types of underwater vehicles: Autonomous Vehicles Non-Self (research submarines), which operate under the same principle. It is common to use these robots to perform tasks such as monitoring, inspection and maintenance of underwater structures in deep drainage, curtains in dams, groundwater, natural or artificial funds lakes, nuclear plants, oil platforms, etc. Besides in the field of education, a prototype of this kind, is able to show the basic principles of an underwater system, and is essential for monitoring and expansion of research from the lowest levels to the most advanced in the control area. The introduction provides an overview of the article, in the second part all the mathematical analysis for the underwater vehicle systems as well as some details of its physical construction involved, and some graphical results of the general behavior is concerned. The conclusions are finally future work.