Development of a low-cost underwater manipulator

This thesis describes the design, modeling, manufacture, and testing of a low cost, multiple degree-of-freedom underwater manipulator. Current underwater robotic arm technologies are often expensive or limited in functionality. The goal of this research is to produce a multiple degree-of-freedom manipulator utilizing relatively inexpensive, commercial off-the-shelf servo motors. This project is designed for low-payload (< 0.5 kg) and shallow depth operation on a small remotely operated vehicle. A completed underwater manipulator has been built using the new servo housing design. Static and dynamic waterproofing techniques have proven satisfactory, offering a solid design for waterproofing of servo motors. Preliminary tests of the integrated servo arm system indicate that the arm will operate successfully in the underwater environment. This design is anticipated to be used on an underwater vehicle in June 2006, as well as in future undergraduate ocean engineering design subjects.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2006

Author dc:creator

• Cooney, Lauren Alise

Advisor dc:contributor.advisor

• John Leonard.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/36303

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/36303