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Oz Chip Applications: Underwater Robots
Posted on Tuesday, April 20 @ 16:05:26 EDT
Topic: Mekanik Yapılar
I've designed some underwater or floating robots which can be built by using the circuit schematics, assembly codes etc present in our articles archive. Two of them are underwater robots and one is afloat.

CATASUB


FATSUB


CATASUB

This project can be realized by using two toy submarines which can be found in toystores anywhere on the globe. There are lots of different models for theese plastic, cheap subs. The sub must have a DC motor and a propeller. The robotic arm can be realized by assembling the circuitry and mechanic construction schemes detailly depicted in some articles of our site. You must either find and use special waterproof servomotors or find a way to seal ordinary servos. There should be many free info on the net on how to seal a servo or a DC motor.

I've bought two submarines. Russian made, paid around 3$ for each of them. cheap huh? I'll publish photos as soon as I take some. We'll use the two motors of the two subs to propel the robot forward and aft as well as for turning maneuvers. The same scheme is used in mobile robots just like our robot bugs etc. So all the circuitry in our robotic bug articles will work for this robot as well. So you can build a light following robot submarine or a sound chasing one easily. You must find a waterproof plastic case to put your circuitry inside, some tightly closing kitchen cases made of plastic will do very well. Drill some holes for the cables and also seal them by using hot or cold silicon. To compensate the lifting force which will be applied to the plastic case by the water, you must add some lead ballast weight to the bottom of the submarine. That weight can be arranged step by step to enable your sub stay afloat IN the water. It must neither not go up to the surface of the water, nor sink and go to the bottom. The sub must have neutral buoyancy. A vehicle with neutral buoyancy can wander in the depth you put it continuously. To change the depth, a depth rudder is more than enough. This is the method used for all the military and commercial submarines and models too. With necessary circuitry, you can direct your submarine by a remote controller, or let it wander around all by itself robotically. You can remote control by RF or by a serial wire connected to the serial port of your PC. You can mount a small camera to your robot which you are controlling from your PC and at the same time watch the image sent from camera. There are lots of suitable cheap RF cameras on the market. the prices begin from 20$ or so.











FATSUB

This is a small FAT submarine. Monohulled and carrying all the servo, dc motor, and electronic circuitry in its waterproof body. You must put a heavier weight to the bottom of the sub to make it neutrally buoyant. This sub can also be powered by the circuits and systems described above.













CATAROB

This is a floating version of the projects above. Again, toy boats which can be found in toystores are used. Very cheap toys with only a DC motor and no rudder can be used. Sealing the electromechanic parts of this project is much easier though the project will be afloat all the time. Not a great level of water tightness is required.














 
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Most read story about Mekanik Yapılar:
PC Controlled Robotic Arm (Circuit Schematic and asm code are added)


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