Expectations
The robotic arm is expected be able to grab, hold, and release objects retrieved in a pool ranging in depths from zero to four meters. The arm must be able to open and close its claw with ease and precision. The second function is grabbing objects. It must be able to grab any type of objects, ranging from either a light lattice structure sphere to a heavy PVC pipe. It also must be able to pick objects such as rope and thread it through a metal ring or rounded object. The arm should be able to open and close its claw and move in any direction.
Before the ROV arm can be tested a few things must be done. First the arm along with the ROV must be transported to a pool that meets the specifications and limits that the ROV is
given, one such pool in the one at Monmouth University(right). Along with the ROV arm the ROV is needed to test the arm, along with a heavy PVC pipe, a small light ball much like a wiffle ball, and a rope and metal circle.
Steps
1. Attach arm to ROV in less than five minutes
2. Test arm while out of water: do this by performing all functions of arm detached from ROV and out of water. The arm should be able to open and close its claw and move in any direction.
3. Once the arm has performed the task above, place the vehicle in the pool(right) and allow the ROV to reach the maximum depth before beginning the next phase of testing. The arm should be able to open and close its claw and move in any direction.
4. After basic tests have been completed, the arm now has to perform the tasks which the MATES competition has set down. To simulate these, place the PVC pipe at the bottom of the pool, and allow arm to grasp it. Once the pipe is grasped move the vehicle in all directions to test how well the arm holds the object while in motion.
5. Place the PVC pipe at the bottom of the pool, and allow arm to grasp it. Once the pipe is grasped move the vehicle in all directions to test how well the arm holds the object while in motion.
6. The final task for the arm is for it to grab the rope at the bottom of the pool and see if it can place it through a metal hoop. Test this by grabbing a previously placed rope with the arm. Then move the arm with clasped rope in hand to the loop which is placed at the bottom of the pool and proceed to thread it through the loop(below).
7. The final step is for the ROV and arm to return to the surface and purge all the water, and check for any signs of water leaking into the system.
The robotic arm is expected be able to grab, hold, and release objects retrieved in a pool ranging in depths from zero to four meters. The arm must be able to open and close its claw with ease and precision. The second function is grabbing objects. It must be able to grab any type of objects, ranging from either a light lattice structure sphere to a heavy PVC pipe. It also must be able to pick objects such as rope and thread it through a metal ring or rounded object. The arm should be able to open and close its claw and move in any direction.
Before the ROV arm can be tested a few things must be done. First the arm along with the ROV must be transported to a pool that meets the specifications and limits that the ROV is
given, one such pool in the one at Monmouth University(right). Along with the ROV arm the ROV is needed to test the arm, along with a heavy PVC pipe, a small light ball much like a wiffle ball, and a rope and metal circle.Steps
1. Attach arm to ROV in less than five minutes
2. Test arm while out of water: do this by performing all functions of arm detached from ROV and out of water. The arm should be able to open and close its claw and move in any direction.
3. Once the arm has performed the task above, place the vehicle in the pool(right) and allow the ROV to reach the maximum depth before beginning the next phase of testing. The arm should be able to open and close its claw and move in any direction.
4. After basic tests have been completed, the arm now has to perform the tasks which the MATES competition has set down. To simulate these, place the PVC pipe at the bottom of the pool, and allow arm to grasp it. Once the pipe is grasped move the vehicle in all directions to test how well the arm holds the object while in motion.
5. Place the PVC pipe at the bottom of the pool, and allow arm to grasp it. Once the pipe is grasped move the vehicle in all directions to test how well the arm holds the object while in motion.
6. The final task for the arm is for it to grab the rope at the bottom of the pool and see if it can place it through a metal hoop. Test this by grabbing a previously placed rope with the arm. Then move the arm with clasped rope in hand to the loop which is placed at the bottom of the pool and proceed to thread it through the loop(below).
7. The final step is for the ROV and arm to return to the surface and purge all the water, and check for any signs of water leaking into the system.
First photograph courtesy of SD and LB
"ROVs Pg2." MATE 6th ROV Competition 2007. MATE. 28 Sep 2007. http://www.marinetech.org/rov_competition/2007/results/Photos/ROVs%20Pg%202.html
"ROVs Pg3." MATE 6th ROV Competition 2007. MATE. 28 Sep 2007 http://www.marinetech.org/rov_competition/2007/results/Photos/ROVs%20Pg%203.html.
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