Underwater Remotely Operated Crawler (ROC) leg-like wheel design

Ang, Leslie (2018) Underwater Remotely Operated Crawler (ROC) leg-like wheel design. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Remotely Operated Crawler (ROC) is an underwater vehicle that used to explore the deep sea underwater field which categorized under Unmanned Underwater Vehicle (UUV). The aim of this study was to investigate the performance of the ROC on an uneven surface of seabed with the ability to operate in various condition of underwater environment, in particular focus on the designing of wheel mechanism to overcome any obstacle. SolidWorks software was used as a platform in designing the overview idea of the ROC with leg-like type wheel and the simulation test was done by using the application available in the software which is the SimulationXpress. The simulated wheel mechanism and other part of the ROC were able to withstand the pressure of the water within 3 meters of depth without any obvious deformation that able affect the performance of the ROC. This shows that the ROC with leg-like type wheel mechanism able to overcome obstacle without having to change the wheel frequently. The performance of the ROC then further investigate in term of velocity, overcoming obstacle, and maneuverability. The velocity of ROC were investigate with type of surface and type of medium. Then, the maximum height that ROC able to crawl over is 4cm. Lastly, the accuracy of changing direction without using sensor is 10%.

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