SeaArm-A Subsea Multi-Degree of Freedom Manipulator for Small Observation Class Remotely Operated Vehicles

Abstract

This paper presents the design of a novel low cost 4DOF fully electric subsea manipulator for small work class ROVs. The manipulator is designed to work on a wide range of typical observation class ROVs ranging from 5 kg and upwards. The small size makes the manipulator suitable to perform simple intervention tasks in addition to offering great mobility. The manipulator is designed to be completely modular. This again enables the arm to be reconfigured to fit size and performance requirement for a number of different applications. The functionality of the manipulator is tested in open water on a real ROV system. The manipulator performs remarkably. Despite the relative large size of the manipulator the overall response of the system is controlled and especially roll and pitch responses are smaller than one might expect. It is therefore shown that the hydrostatic restoring of the ROV is sufficient to stabilize the manipulator-ROV system without other sources of actuation.