Development and Design of ROV Manipulator
Bachelor thesis
Permanent lenke
https://hdl.handle.net/11250/3076661Utgivelsesdato
2023Metadata
Vis full innførselSamlinger
Sammendrag
The thesis is carried out in collaboration with the student organization UiS Subsea. Theprimary objective of this thesis is to design and develop a manipulator for the ROV,named YME, using the product development process (PDP). The end goal is to showcasethe final product at the MATE ROV Competition 2023. The importance of sustainabilityhas been highlighted in recent years, and this year, MATE ROV Competition focuses onthe United Nations Decade of Ocean Science for Sustainable development (2021-2030),and challenge students to contribute to UNs Sustainability goals by seeking sustainablesolutions for their projects.The product development process consisted of four phases: planning, concept development, concept generation, and product concept selection. The planning process focusedon resource allocation, declaring a mission statement, and establishing a good foundation for the process ahead. Gathering benchmarking information and establishing targetspecifications was a crucial part of the concept development phase, prior to the conceptgeneration process, as the information and specifications served as a guidance and outline for the concepts to be generated. By a circular economy approach, the reuse of oldcomponents within UiS Subsea was evaluated, and potential components were located.The circular economy approach influenced design decisions, and resulted in cost and timeefficiency, and contribution towards sustainability in engineering practices. Concepts weregenerated for both the manipulator arm and end-effector, and the most promising oneswere selected for further development. Eventually one concept for the arm, and one forthe end-effector, was selected and further developed through detailed design.Through detailed design, a complete CAD model of the manipulator was made, alsomaterial was selected and necessary calculations were performed. The outcome was athree degree of freedom manipulator arm with a rotating end-effector, pitch function,xvand a telescope function. Through prototyping and extensive testing, the design wasevaluated and deemed sufficient according to customer needs and target specifications.The outcome of the project was a fully functional ROV Manipulator able to perform allthe required MATE tasks, and contributed greatly towards the successful qualification tothe 2023 MATE ROV Competition. However, there was room for further improvementand optimization of both the manipulator and the process, and hopefully the manipulatorcan serve as a foundation for future UiS Subsea manipulator projects. The thesis is carried out in collaboration with the student organization UiS Subsea. Theprimary objective of this thesis is to design and develop a manipulator for the ROV,named YME, using the product development process (PDP). The end goal is to showcasethe final product at the MATE ROV Competition 2023. The importance of sustainabilityhas been highlighted in recent years, and this year, MATE ROV Competition focuses onthe United Nations Decade of Ocean Science for Sustainable development (2021-2030),and challenge students to contribute to UNs Sustainability goals by seeking sustainablesolutions for their projects.The product development process consisted of four phases: planning, concept development, concept generation, and product concept selection. The planning process focusedon resource allocation, declaring a mission statement, and establishing a good foundation for the process ahead. Gathering benchmarking information and establishing targetspecifications was a crucial part of the concept development phase, prior to the conceptgeneration process, as the information and specifications served as a guidance and outline for the concepts to be generated. By a circular economy approach, the reuse of oldcomponents within UiS Subsea was evaluated, and potential components were located.The circular economy approach influenced design decisions, and resulted in cost and timeefficiency, and contribution towards sustainability in engineering practices. Concepts weregenerated for both the manipulator arm and end-effector, and the most promising oneswere selected for further development. Eventually one concept for the arm, and one forthe end-effector, was selected and further developed through detailed design.Through detailed design, a complete CAD model of the manipulator was made, alsomaterial was selected and necessary calculations were performed. The outcome was athree degree of freedom manipulator arm with a rotating end-effector, pitch function,xvand a telescope function. Through prototyping and extensive testing, the design wasevaluated and deemed sufficient according to customer needs and target specifications.The outcome of the project was a fully functional ROV Manipulator able to perform allthe required MATE tasks, and contributed greatly towards the successful qualification tothe 2023 MATE ROV Competition. However, there was room for further improvementand optimization of both the manipulator and the process, and hopefully the manipulatorcan serve as a foundation for future UiS Subsea manipulator projects.