The development of underwater manipulator for mini-rov application

Ng, Ann Qi (2018) The development of underwater manipulator for mini-rov application. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Manipulator is an important tool for remotely operated vehicle (ROV) to perform various tasks such as picking up object from the ocean bed, grasping and transferring equipment underwater and joining parts. This paper presents the designing and development of underwater manipulator for BlueROV2 application. This study also aimed to conduct a testing of manipulator in the water. The details design of manipulator are developed by using CATIA software. The characteristics of new design of manipulator are low cost, low complexity of structure, high portability, ease of handling and ease to manufacture. The position of manipulator on the BlueROV2 is at the center that under the vehicle (inside of Payload Skid). The center position of manipulator can vertically align the center of buoyancy and the center of gravity thus balance the vehicle. This paper also presents the determination of the gripping force of the gripper by using different mass of load. As the mass of load increase, the gripping force is also increase. In addition, the testing results also show low coefficient of friction causes the high force is required to grasp the object by gripper. The maximum gripping force of gripper is obtained in this paper. The testing result based on functionality of manipulator in water is presented. The manipulator is able to grasp and hold the load in water without continuous force generated by motor. The design of finger of gripper enable the manipulator to reach the load at the corner and perform the grasping task underwater successfully

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