FRAME DESIGN

MAIN BODY

Our frame consists of three main

plates and the acrylic tube.
The main plates are Base plate and 2
Side plates.
1) BASE PLATE:

This plate is the lower horizontal plate.

The function of base plate is to connect the side plates
together and carry the robot arm at the same time.
 2) SIDE PLATES:

These plates are the vertical plates.

The function of side plates is to carry the pumps and
the acrylic tube of electrical and electronic
components.
3) ACRYLIC TUBE:

This tube is designed to contain and seal the

electrical and electronic components that control the
robot.
This tube is carried by the two side plates using 8
circular parts up and down the tube.
The diameter of tube is 50 cm.
3) ACRYLIC TUBE:

This tube is closed by an acrylic cap to carry cameras

and provide them a perfect seen.
The other side is closed with a circle of artylon.
2 parts of artelon are used to connect the tube with
cap from one side and the tube with artelon circle
from the other side.
MATERIALS

All the plate are made of High Density Polyethylene (Artelon)

with a thickness of 10 mm.
Density of Artelon is , which is very close to water density ().
This conversion will help us to adjust the buoyancy.
MATERIALS

The tube of electrical components is made of Acrylic with a

thickness of 5 mm.
Acrylic is chosen because it is light transparent like glass.
This advantage will give cameras sealing with a perfect
scene.
PUMPS ORIENTATION:

Our Robot moves with eight pumps, four of them moves

in the vertical plane and the other 4 moves in the
horizontal plane.
The vertical pumps are fixed at the same height. Thrust
force of all pumps are in the same direction.
So, total vertical thrust force = 4 * thrust force of one
pump.
PUMPS ORIENTATION

The horizontal pumps are fixed 45 degrees to the X axis. This

position makes rotation around Z axis much easier. Every
thrust force is divided to Fx and Fy.
Total horizontal thrust force =
WHY THIS DESIGN?

• The position of cameras in

the acrylic tube.
• Thruster fixing.
• Robot arm fixing.