Development Of An Unmanned Underwater Remotely Operated Crawler Based On Wheel Mechanism Design

Omar, Rashidah (2015) Development Of An Unmanned Underwater Remotely Operated Crawler Based On Wheel Mechanism Design. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Underwater Remotely Operated Crawler (ROC) is one of the unmanned underwater robots. The development of an unmanned underwater ROC based on wheel mechanism design for monitoring application. To reduce the risk to human life when divers searching artifacts, underwater vehicles have more benefit which is they are able to operate at greater depths, possess less human liability and have longer working hours than any commercial divers. Besides that, the major problem with this kind of application crawler is travelling across uneven surface. While vehicle move uneven surface the crawler may be unstable so it affected the system progress. So the wheel of ROC is considered to be able travel on uneven surface. Other than that, the tethered underwater robot control manually by user using joystick. The ROC combines a standard 134mm high, 350mm wide and 400mm long remotely operated vehicle crawler. The Peripheral Interface Controller (PIC) is used to control the movement of this ROC. The ROC was design based in 3 goals maneuverability, performance and future industrial implementation. This method to make the robot function as well regarding to the objective and scope. As a result, the movement of the ROC will running in water by means of crawler system. A stable running is represented for the center of gravity and the center of buoyancy. Furthermore, this project also will give much benefit for related underwater industries and the range of applications where this ROC concept is best suited and outperforms others

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