Project Description:
This underwater manipulator is being designed for research purposes in the Chesapeake Bay. It will be attached to a BlueROV2, an underwater rover. Following customer requirments, the manipulator must have 3 degrees of freedom: pitch and yaw at the shoulder as well as pitch at the elbow. It must also be able to securely grab objects around the size of an oyster or clam. It must have a minimum grip and lift force of 1 lbf. It must have a maximum reach of 2 ft and can weigh no more than 3 lbs. This manipulator is designed with sustainability in mind. As it will be operating in the Chesapeake Bay, it must be environmentally friendly. This factors into the design, material selection, and operation of the manipulator.
