Development of a Low-Cost Underwater Manipulator by Lauren Alise Cooney SUBMITTED TO THE DEPARTMENT OF MECHANICAL ENGINEERING IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF BACHELOR OF SCIENCE

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. Thesis Supervisor: John Leonard Title: Associate Professor of Mechanical Engineering