MP3 FPU

The situation

Team Design Brief

            Design and construct a submersible remotely operated vehicle to achieve the tasks provided by the MATE ROV Competition that a team operator can use to simulate a real life ROV exploration in a chlorinated testing pool.   Each team member will individually design a different operating component of the remotely operated vehicle, which will include: propulsion systems, design structure, and a mechanical arm.

Individual Design Brief:

-Design and construct a mechanical arm to be placed on the structure of the remotely operated vehicle that a team member can operate efficiently. The mechanical arm must collect samples of a crustacean species and bacteria mat, sample a vent site, and resurrect a PVC structure.

Specifications:
-The design must be operated remotely from a shack.

-The design must be able to maneuver in any direction of the water column.

-The design must have a mechanical arm to pick up objects.

-The mechanical arm must open to a minimum size of 3 inches.

-The mechanical arm must collect samples of a crustacean species.
-The mechanical arm must collect samples of a bacteria mat.

-The mechanical arm must sample a vent site.

-The mechanical arm must resurrect a PVC structure also called "Hugo“.

Limitations:

-The design must operate at depths up to 4 meters.

-The design must be powered by a 12 volt 25 amp battery.

-The design must use nonpermeable water materials.

Developmental Drawings

MODEL-

TESTING-

ROV Hull Structure-

Current Final Product-

MP3 Logs

Jan 25 2011-

I have to gather the majority of my parts before I can start constructing my mechanical claw. I have purchased the gears at hobby masters. Also, I purchased 1/32" piano wire as a possible option for axels. I'm still thinking about using something more solid as axels.

Jan 27 2011-

Yesterday I purchased finishing screws as a more solid option for axels. However, with the size of these screws, I am forced to drill a larger hole in the center of the gear. I soon have to decide whether I want to apoxy or adhere the gears to the axels or use a stopper of some sort on the top and bottom of the gears.

Feb 1 2011-

Today I plan on looking for rubber stoppers at hobby masters or a department store. I recently found various size nylon stoppers that can be used to adjust the location of the gear of the axels inside my gear cage. I think this is a much better option than using a type of apoxy to adhere the gears because stoppers will give me room for error and everything does not have to be exact.

Feb 3 2011-

I have recently contacted a metal fabricating shop to weld my gear cage together. They suggested that instead of using aluminum sheet metal, I would need a thicker aluminum. This is because I plan on drilling through the top and bottom of the gear cage to insert the axels. It's called H & L Fabricators, located in Eatontown.

Feb 8 2011-

Over the last few days, I put in a call to H & L Fabricators and gave them the dimensions of the gear cage I would like them to weld. I picked it up and it looks great. I think there is a little too much extra space in the back of the gear cage, but it allows for changes if needed. I also had them cut the front and back sides of the cage, which allows water to flow through it. (Won't fill and add unnecessary weight to the ROV)

Feb 10 2011-

Today I layed out the gears and axels on top of the gear cage in order to finalize exactly where the parts will go. I took into account where the electric motor will attach to the last gear in the gear train. Theres about 2 to 3 inches of free space at the end of the gear cage, but after testing the weight of the aluminum gear cage, it does not weigh too much for the platform on the bottom of the hull. So, I will not remove the extra space on the gear cage.

Feb 15 2011-

I am currently looking for a lighter material to construct into the actual claw. Since the arms of the claw will be rotating on the gears, (instead of through the axels) the arm and claw should be as light as possible. This will decrease a large amount of unnecessary weight forced upon the gear as it is trying to rotate on the axel. At this point in time, I think i will use a lightweight plastic cup to construct the claw.

Feb 18 2011-

Within the next week, I should be making the axel holes on all the gears the same diameter as the finishing screws. I will soon as be drilling through the top and bottom of the gear cage. After that is complete, I will have to adjust the height of the gears with nylon plastic stoppers. On to the claw.

Feb 22 2011-

For the most part, I have the gear system complete inside of my gear cage. The only remaining step left to complete is to put all of the pieces of the claw together. Today I took some photos of my final gear cage design.

March 1 2011-

Today I am getting updated on paperwork. I'm creating my "senior project poster" to be displayed at an event that will show spectators what my ROV has been working on since September. It hits on some key points and parts of my senior project including design briefs, the design process, construction, and testing.

March 4 2011-

The completed ROV is due on the 21st of this month. That means that my mechanical claw should be done relatively soon, so I can mount it onto the hull of the ROV. Also, it needs to be completed prior to the 21st deadline so Matt can wire my claw to perform opening and closing movements. I'm helping Matt construct his controller before I finish the claw.

March 8 2011-

Today I am drilling the 3" machine screws (axels) through the gear cage. I am also modifying the 1" nylon plastic spacers to fit on the axels. I also have to purchase locking washers to go on the outside of the gear cage.

March 11 2011-