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Submarine

technical details

Overview

Trussed Chassis
Modular Parts
Scrolling
Ballast
Tank

Trussed Chassis

  • The chassis is inspired by a Warren-type truss.
  • It keeps the submarine's components coupled together at the lowest possible weight without compromising its structural integrity.
  • The chassis distributes its loads diagonally across the geometric lines.

Modular Parts

  • It consists of a system of modular acrylic panels connected by standardised screws.
  • It allows the configuration to be varied to validate operation and models.
  • It allows the coupling of all types of sensors or elements for research purposes.

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Scrolling

  • Configuration of 6 BlueRobotics T-200 motors.
  • It has 5 degrees of freedom in movement, it can move in all planes and rotate with respect to its vertical and longitudinal axis.

Tank

  • It provides an environment that allows the expected performance of the components, while providing sufficient space for them.

  • The tank incorporates the use of a rail system that allows for easy maintenance of the system by the team.

Handler

  • The one-degree-of-freedom gripper is capable of picking up plastic bags and objects with a maximum diameter of 10 cm.
  • It operates by means of a high-powered linear actuator, which is housed in a waterproof compartment.

Computing and Vision

  • It provides an environment that allows the expected performance of the components, while providing sufficient space for them.

  • The tank incorporates the use of a rail system that allows for easy maintenance of the system by the team.

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Variable Density Ballast

  • It enables the submarine to achieve neutral buoyancy.

  • The tanks give the possibility to change the density according to the requirements of the task at hand.

  • Allows the system to be modular and adaptable to different routes in a three-dimensional environment.