Design and development of an underwater robotic vehicle (I)

• Main Author: Li, Fu Bai.
• Other Authors: Heng Kok Hui, John Gerard
• Format: Final Year Project
• Language: English
• Published: 2011
• Subjects: DRNTU::Engineering::Mechanical engineering::Robots
• Online Access: http://hdl.handle.net/10356/45096
• Institution: Nanyang Technological University

The design and develop an underwater robotic vehicle project requires student to develop a robot independently to participate in Singapore Robotic Games (SRG) 2011; it aims to help students understand the process to develop a robot, and learn and overcome the engineering challenges required to build and operate such a vehicle. The author designed and built this vehicle strictly according to Underwater Robot Competition (URC) rules. The vehicle should fit in 30cm (length) x 30cm (width) x 30cm (height), and will start at one end of “L” shape tank to pick up objects (cargoes) at the centre and deliver equal number of objects to two ends of tank. The report is mainly about the development process of first version robot. A Lock & Lock box (L 134mm x W 134mm x H 70mm) used as the hull of vehicle; 6 geared brushed dc motor were mounted on the hull in x, y, z axis direction to achieve better manoeuvrability, each axis has two motors to balance the moment of rotation; 2 modified relays were used to pick up cargoes; 3 L298s were used to build the motor driver; and two BS2sx microprocessors were used to control the robot. The author bought remote controller from robotic hobby shop to enable remote control.