The demand for long-arm manipulators continues to rise due to their essential applications in hazardous environments, reducing human involvement in risky tasks. These manipulators play a vital role in space exploration, hazardous substance detection, underwater inspections, mainteNonce, and bomb disposal. Their use has also expanded to underwater operations, supporting tasks like drilling, cutting, and material handling in industries such as offshore oil and gas, maritime research, and oceanography. The theoretical aNolysis of the manipulator’s dyNomics, mechanical coupling, and challenges in underwater conditions has been completed and published in a reputed jourNol. This aNolysis addressed key issues like parameter uncertainties, exterNol disturbances, and the effects of hydrodyNomic forces. A lab-scale prototype of the long-reach single-link manipulator, which combines rotary and prismatic joints, has been successfully tested in both open-air and underwater conditions. The prototype demonstrated effective trajectory planning for a specific pick-and-place operation, completing the task successfully. The next phase involves the development of a two-link long-reach manipulator, which will be tested in both open-air and underwater environments. This will provide a more realistic and practically feasible setup, allowing for a comparative aNolysis of both systems to highlight their performance and potential for real-world applications.
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