Experiences and results from designing and developing a 6 DoF underwater parallel robot

  • Pazmiño R
  • Garcia Cena C
  • Arocha C
 et al. 
  • 27


    Mendeley users who have this article in their library.
  • 12


    Citations of this article.


REMO I Robot is a novel application of a parallel structure as an underwater robot of 6 DoF. Compared to other underwater robots, navigation of REMO I Robot is performed by the capability of its parallel structure to modify its geometric structure (thruster and front ring) and to displace by itself. This kinematic property of the parallel platform allows vectorial formation of thrusting forces to take place. Remo I Robot has just one single thruster in its rear ring, therefore the vectorial navigation gives maneuverability, flexibility, and holonomic capabilities for its navigation and positioning. The latter is important for intervention and manipulation tasks. That is why it gives a solid alternative when compared to traditional submarine robots such as shown in the simulation results and experiments performed using a real prototype. In conclusion, this paper proposes a conceptual frame for the development of underwater parallel robots. Moreover, it also points out the experience acquired from the development of the underwater Remo I Robot. © 2010 Elsevier B.V. All rights reserved.

Author-supplied keywords

  • Control of parallel robot
  • Modelling
  • Parallel robot
  • Underwater robots

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • Roque Saltaren Pazmiño

  • Cecilia E. Garcia Cena

  • Cesar Alvarez Arocha

  • Rafael Aracil Santonja

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free