2026-09-19T19:10:00Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/363032022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
John Leonard.
Cooney, Lauren Alise
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2007-02-21T13:24:52Z
2007-02-21T13:24:52Z
2006
2006
http://hdl.handle.net/1721.1/36303
77747979
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.
Includes bibliographical references (p. 41).
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.
by Lauren Alise Cooney.
S.B.
41 p.
eng
Massachusetts Institute of Technology
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.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Development of a low-cost underwater manipulator
Thesis
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