For the MATE ROV competition my group is tasked with designing a multi-functional ROV capable of transporting objects, determining sound and temperature readings, and manipulating seals and locks. The ROV will be operated in a clear, lit test pool of between 1.2 and 4 meters deep. My individual portion of this task is the mechanical engineering component. I am to design the manipulator for the ROV that must pick up, carry, and drop various objects throughout the pool. It must also not impede the motion of the ROV. These are my three alternate solutions for the manipulator of the ROV.
My 1st alternate solution is a horizontal claw system. It has one pincer like claw coming off of either side of the arm. The arm is straight and rectangular in shape in order to fit into Sean’s hull design. It utilizes a tooth arm and gears in order to function. There is one 1” gear and one pincer has a 1/8” gear, while the other has a ½” and ¼”. The arm will be 6 inches long. Each claw will be 2 inches long. The claw will be composed of plastic and will use a pneumatic power system to power it.
My 2nd alternate solution is a modified version of the horizontal claw system. It has a pincer-like claw on each side of the arm, but it has a top and bottom set in order to create a cage as well. There will be bars running from top to bottom in order to enclose the cage. This will allow the ROV to grab and hold on to objects more easily. Once again the arm is straight and rectangular in shape to accommodate Sean’s hull design. It utilizes a tooth arm and gears to function. There is one 1” gear and one pincer has a 1/2” gear, while the other has a ½” and 1/2”. The arm will be 6 inches long. Each claw will be 2 inches long and the bars that form the cage will be 2 inches tall. The claw will be composed of PVC piping and will be powered using an electric motor.
My 3rd alternate solution is a vertical claw system. It is similar to the horizontal system, although it is in a different position and has different gear ratios. It has a claw coming off the top and bottom of the claw arm. Once again the arm is straight and rectangular in shape to accommodate Sean’s hull design. The claw will come together to encase the object on the top and the bottom. The gear ratio will not be equal and will allow the bottom claw to move faster than the top claw. This is so that the bottom can scoop up the object quickly and then have the slower top claw come down and close on top of it. The arm will be 6 inches long. The claws will be 2 inches long each. The claw and arm will be composed of PVC and will use an electric motor to power it.
In conclusion, each soltution can meet the requirements of the ROV, although one must be chosen. Each solution is a completely different design that can complete the same task. My 1st solution is the horizontal claw system, the second is the vertical claw system, and the third is the modified horizontal cage system. Each design must be able to complete its tasks, while also not impeding the motion of the ROV.
In conclusion, each soltution can meet the requirements of the ROV, although one must be chosen. Each solution is a completely different design that can complete the same task. My 1st solution is the horizontal claw system, the second is the vertical claw system, and the third is the modified horizontal cage system. Each design must be able to complete its tasks, while also not impeding the motion of the ROV.
No comments:
Post a Comment