| 摘要 |
<p>The invention relates to a method of performing an under water operation on a structure (10) or in the vicinity of the structure, the method comprising: -providing a device (18) comprising a movable arm (20), the device being constructed to perform an under water operation on the structure or in the vicinity of a structure, the device comprising: oat least a first support (22) constructed to be connected to the structure, the support being configured to transfer substantial forces in three dimensions and substantial moments about the X-axis, Y-axis and Z-axis from the movable arm to the structure, including a vertical force required for lifting operations of the device, oat least a first articulated movable arm (20) directly or indirectly connected at a proximal end (34) to said support, the first movable arm comprising a first tool (30) connected to a distal end (36) of said first movable arm, wherein the first tool (30) is movable in a three dimensional working range (98) around the at least first support, oat least one actuator (33) configured to controllably move the first tool (30) in the three dimensional working range in order to position the first tool at a target location, a control device (56) configured to control the at least one actuator and the tool during operation, -attaching the device to the structure via the at least one support, -moving the tool in three dimensions and performing an operation under water.</p> |
