UNDERWATER APPARATUS Russian patent published in 2012 - IPC B63C11/52 B63C11/34 B25J9/06 

FIELD: transport.

SUBSTANCE: invention relates to ship building, namely, to self-propelled underwater apparatus controlled via cable. Underwater apparatus comprises hull shaped to parallelepiped with base center located on main plane and center of buoyancy, mounted equipment and manipulator set consisting of four identical actuator manipulators, each including three concatenated links with three joints. Line of action of the first actuator manipulator coincides with its plane of action. Other manipulators feature similar configuration. Driver comprises stationary base frame unit with strut at its center to support moving platform supporting said four drive manipulators similar to said actuator manipulators with similar kinematics.

EFFECT: faster operation, higher reliability.

6 dwg