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Over view of the Project
Over view of the Project
I Joined the HKUST Robotics Team - ROV Subteam (EPOXSEA) in my first year to work as CTO and Mechanical Engineer. I was in charge of designing most of the robot's manipulators such as Main Gripper, Value Turner, Marker Buoy, Agar Sampler, and Bluetooth Activation Module.
We won All-Round Champion of Explorer Class in the MATE ROV 2017 International Competition Grand Final after winning Regional Champion in Hong Kong.
Exploded View of different manipulators
Exploded View of different manipulators
1. Main gripper
1. Main gripper
3. Bluetooth Activation Module
3. Bluetooth Activation Module
5. Agar Sampler
5. Agar Sampler
7. Value Turner
7. Value Turner
2. Rebar Manipulator
2. Rebar Manipulator
4. Beacon Retriever
4. Beacon Retriever
6. Marker Buoy
6. Marker Buoy
8. Multipurpose Hook
8. Multipurpose Hook
My Manipulator Designs
My Manipulator Designs
Main Gripper
Main Gripper
The Main gripper was designed to be adaptive to different shapes by increasing number of contact points. Soft rubber tubing was used as fingers that help the gripper to firmly grab the desired objects.
The Main gripper was designed to be adaptive to different shapes by increasing number of contact points. Soft rubber tubing was used as fingers that help the gripper to firmly grab the desired objects.
Finger gripper
Finger gripper
The finger gripper was designed to be a back up for the main gripper, it can also adapt to different object shapes and acquire a firm grip. However this design never got manufactured as there was worries regarding the reliability issues brought with the complex structural design.
The finger gripper was designed to be a back up for the main gripper, it can also adapt to different object shapes and acquire a firm grip. However this design never got manufactured as there was worries regarding the reliability issues brought with the complex structural design.
Bluetooth Activation Module
Bluetooth Activation Module
The Bluetooth Activation Module combines the Activation Module, which uses light signal to active the Bluetooth communication, and the Bluetooth Module to carry the communication, it is compact and easy to use for the robot pilot.
The Bluetooth Activation Module combines the Activation Module, which uses light signal to active the Bluetooth communication, and the Bluetooth Module to carry the communication, it is compact and easy to use for the robot pilot.
Agar Sampler
Agar Sampler
The Agar Sampler was designed as a one-way flap door mechanism. Over repeated penetration into the agar sample, it is able to acquire a good amount of samples to bring back to shore.
The Agar Sampler was designed as a one-way flap door mechanism. Over repeated penetration into the agar sample, it is able to acquire a good amount of samples to bring back to shore.
Marker Buoy
Marker Buoy
The Marker Buoy was used to mark underwater containers on the water surface. Magnetically attached to the robot, it can be attached to the underwater container, after which it will float to the surface dragging a internally winded string.
The Marker Buoy was used to mark underwater containers on the water surface. Magnetically attached to the robot, it can be attached to the underwater container, after which it will float to the surface dragging a internally winded string.
Value Turner
Value Turner
The Value Turner was designed to perform the task to turn a value handle underwater, it took an old gearbox, for which adapters and housings were made to adapt to a water proof motor.
The Value Turner was designed to perform the task to turn a value handle underwater, it took an old gearbox, for which adapters and housings were made to adapt to a water proof motor.
The final version also feathers an adaptive claw with which the pilot can more easily turn the value handles of different shapes and sizes.
The final version also feathers an adaptive claw with which the pilot can more easily turn the value handles of different shapes and sizes.
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