An Arm-Claw-Type Manipulator for Rapid Deep Water Salvage with a General Support Vessel, Part A: Prototype and Test

This paper proposed a concept prototype of the arm-claw-type manipulator with a general purpose support vessel for the rapid salvage of deep submergence vehicles, aircraft, satellites, etc. The key functions were realized, including object clamping, claw butting and locking, position and posture adjustment, awareness, positioning, and navigation. The prototype was successfully tested in a lake environment on a hollow and cylindrical object. The arm-claw-type manipulator is suitable for the rapid salvage of cylindrical objects in an underwater environment to minimize the clamping force and possible clamping damage on the object being salvaged. Four propeller thrusters with a symmetrical arrangement can be used for the adjustment of position and posture in underwater environments, to match the orientation of the object. Cameras capture the profile images of the underwater salvage object and can be used for posture adjustment, but in dark, deep-water environments, sonar can be used in the place of underwater cameras.