Development of a manipulatorsystem with several integrated effectors for a small hybrid Remotely Operated Vehicle (ROV)

For small hybrid ROV's avoiding additional load during their mission is a crucial aspect. Especially if the task is an underwater manipulation for maintenance reasons. Therefore, it is important to choose suitable manipulators and at the same time to enable a variety of tasks for underwater manipulation. This paper presents an approach to use one manipulator with several effectors, which are interchangeable. The approach aims to guarantee an effective time cost operation as well as a universal usage of the manipulator system and at the same time to keep the overall weight at a certain level.