Sampling Module Study Of Underwater Self-reconfigurable Robot

Underwater sampling function is an important functions for Underwatermodular Self-Reconfigurable Robot(USR). In order to realize this functionin complex underwater environment , a new sampling module which couldsupporting its use and different with other modules must be designed.Be different from the conventional centralized systems, USR is adistributed system composed by a number of modules. This paper is supportby the National 863 Program "Engineering Prototype of USR " project, andbased on the engineering prototype of USR. Detail and research of thesampling module are following:1, Study the current international status of the development ofunderwater sampling techniques , underwater sampling system had beensummarized and grouped, introduce the engineering prototype of USR.2, Existing sampling techniques have been analyzed and compareddirect at specific requirements for USR sampling system, project design andunderwater sealing technology was introduced.3, Mechanical structure of sampling system have been researched.Engineering prototype of sampling module have been designed anddeveloped, the stress analysis and intensity calibration for sampling moduleare given.4,Research of Equipment Installation way , distributed control systems,communications, observation and other aspects of the sampling module aregiven. Propose enforceable scheme and applied in the sampling moduleengineering prototype.5,Verified the feasibility and reliability of the system through therelevant test, and the results of test were analyzed. Finally, the summary of design and research content of the distributedsampling module for the USR is given, further work of the sampling moduleare prospected .