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![]() These studies rarely involve underwater applications, and have not yet combined buoyancy driving with UCDM. In recent years, researches on cable-driven manipulators are mainly aimed at on-land operations, focusing on the motion control, kinematic and dynamic modeling. It is expected that the buoyancy regulation system (BRS) could weaken the influence of the UCDM’s self-weight, thereby helping to improve the operating performance of the UCDM. Therefore, we design a fluid-power buoyancy regulation system for an underwater cable-driven manipulator (UCDM). Since the buoyancy-driven scheme neither needs to consume energy continuously, nor to install thrusters on the manipulator, the scheme proposed by reference has more advantages than that of references. In addition, Masashi Takeichi’s team developed the Giacometti series of manipulators, which balance the weight of the manipulator through buoyancy generated by helium gas. Thrusters, such as water jets and propellers, are installed on the manipulator to compensate the manipulator’s self-weight. ![]() At present, researchers have carried out some research on this issue. However, this also increases the self-weight of the manipulator, resulting in additional power consumption of motors to balance the impact of the self-weight. Increasing the number of joints and the length of the arm can increase the flexibility of the cable-driven manipulator and expand its range of operation. If the cable-driven manipulator can be applied in underwater scenes, it will have a significant potential in marine exploration and resource development, which is also meaningful for the development of manipulators operating in fluid environments like micro-manipulators used in medical fields. ![]() In comparison, the cable-driven manipulator is widely used in fields like nuclear power, medical and aviation, which are above the water, due to its high degree of freedom (DOF) and large workspace. Therefore, they are not suitable for operations in narrow and complicated environments such as underwater pipelines and sunken ships. Traditional underwater manipulators mainly adopt a rigid structure with a large body mass and moment of inertia. They are now indispensable engineering equipment for marine development. Underwater manipulators are widely applied in the exploitation of ocean resources, which can assist people in multiple tasks such as collecting marine samples, gripping underwater objects, operating and maintaining underwater equipment of oil and gas.
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