Towards a Pantograph-based Interventional AUV for Under-ice Measurement

TL;DR

This paper introduces a novel pantograph-based robotic platform designed for autonomous under-ice sampling and measurement in Antarctic environments, emphasizing reliable contact force and system feasibility.

Contribution

It presents a new pantograph mechanism and prototype for interventional AUVs, enabling consistent contact force during under-ice operations.

Findings

Prototype demonstrates effective contact force control.

Preliminary results confirm system feasibility.

Localization system shows promising performance.

Abstract

This paper addresses the design of a novel interventional robotic platform, aiming to perform an autonomous sampling and measurement under the thin ice in the Antarctic environment. We propose a pantograph mechanism, which can effectively generate a constant interaction force to the surface during the contact, which is crucial for reliable measurements. We provide the proof-of-concept design of the pantograph with a robotic prototype with foldable actuation, and preliminary results of the pantograph mechanism and the localisation system are provided, confirming the feasibility of the system.