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X14 Mort Tool
| PART Summary | |
|---|---|
| Vehicle | X14 ROV Sub-Optimal |
| Contributors | Ronny Chan |
The tool is designed to reliably pick up Morts from the bottom of the pool and drop them at the target location.
What priorities did you have in your design? What design considerations did you have? What methodologies did you follow?
- The tool was designed to be compatible with 1-inch stroke length pneumatic cylinders that our team had on hand. It also needed to fit within the space between the bottom of the ROV’s chassis and the floor of the pool. The grip strength of the tool, as well as the open and closed widths of the claws were the biggest design considerations.
- An iterative, trial-and-error design process
- Use of FDM 3D Printing allows for rapid prototyping and complements the iterative design process.
The design is secured by fasteners to holes on bottom of the ROV chassis
The 3D-printed components of the tool are made out of PETG. The pneumatic cylinder is made of steel.
Technical documentation for the pneumatic cylinder used Amazon page for the Mort
- Geometries of the tool took a few iterations to figure out to ensure the desired claw movement was obtained with our 1-inch stroke length pneumatic cylinder
- Certain parts of the tool failed under load, which led to the addition of ribs and cross-members to improve tool strength.
Tool connects to the main pneumatic enclosure via tubing. Tool control is done via the solenoids in the pneumatic enclosure
The tool failed on its first trial due to weak points on the tool failing. There was also an issue with the first prototypes of the tool not closing completely on the Mort. Both issues were fixed in later iterations.
Instead of designing from scratch, try to take inspiration and find references on tools that are proven to already work well for similar tasks.
- Any fun side details
Search keywords.
The Mort Tool was created to reliably retrieve a Mort (weighted rubber fish) from the bottom of the pool, and deposit it at a target location. The tool was designed with a downward-facing claw, allowing for the ROV to continue operating upright with optimal maneuverability, instead of pitching the ROV downwards to complete the task using its forward-facing primary manipulator. It was also designed to be compatible with an extra 1-inch stroke length pneumatic cylinder our team had, and to fit in the space between the bottom frame of the ROV and the pool. The tool is mounted to the frame of the ROV using threaded fasteners, with an additional camera mounted to provide a side-view of the tool and its target. The tool was designed with FDM 3D Printing in mind, which allowed for rapid prototyping and quick iterative trial and improvements of the tool.
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