Plan of Procedures for the SeaPerch ROV Mechanical Arm
The mechanical arm will be produced from all of the materials listed below. The individual roles for the final solution are listed in the notes section of the materials list besides purposes that are self explanatory. The mechanical arm consists of two servo motors that perform the open and closing mechanism for the claw and the up and down motion for half of the arm. The hull will be the stationary platform holding the arm in place. The assembly work ranges in difficulty from easy to detailed and specific. The image below shows about what the final product should look like.
Supplies
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| Number | Material | Quantity | Size | Notes |
| S2 | Electrical Tape | 1 | Roll | Securing wires |
| S3 | PVC Primer | 16 oz. | n/a | Connecting PVC |
| S4 | PVC Glue | 16 oz. | n/a | Connecting PVC |
Some of the parts are made using the following tools. The PVC, or outside housing (P2) for the mechanical arm must be cut to the proper length and attached using bolts (P1), gears (P3), and servos (P4). The wiring will all be handled by our electrical engineer. Electrical tape (S1) will be used to secure the wires inside the PVC housing.
| Tools List | |||
| Number | Tool | Quantity | Use |
| T1 | Ruler |
1
|
Measuring length of PVC |
| T2 | Saw | 1 | Cutting PVC to proper length |
| T3 | Clamp | 1 | Holding PVC in place while being cut |
| T4 | Pencil | 1 | Draw lines where to cut |
| T5 | Drill Press | 1 | Put holes in PVC |
| T6 | Scissors | 1 | Cut electrical tape |
| T7 | Wrench | 1 | Securing Bolts |
| Parts List | ||||
| Number | Part | Quantity | Size | Notes |
| P1 | Bolts | 15 | 1" (TBD) | Secure objects to structure |
| P2 | 2" PVC (Outside Housing) | 2 | 2 feet | Cases motors and makes up arm structure |
| P3 | Gear | 5 | 1 inch (TBD) | Attaches to claw and through gear |
| P4 | Servo | 2 |
1.65” x 0.83” x 1.57"
|
Moves claw and arm motion |
| P5 | Curved Plastic | 2 | 3 inches | Makes up claw |
| P6 | Aluminum Axel | 3 | 2 inches (TBD) | Attaches gear to claw |
Step 1: Cut PVC to proper dimensions
1. Using a pencil (T4) and ruler (T1), mark out the 2" PVC (P2) into two 10" pieces from the end.
2. Using the saw (T2), cut on the lines made to make to 10" PVC pieces.
3. Using a pencil (T4) and a ruler (T1), mark out holes 2" from each other, lengthwise on the PVC pipe on both sides.
4. Use a drill press (T5) to cut out holes in the areas you marked.
Step 2: Create the claw
1. Take the curved plastic (P5), aluminum pole (P6), and gears (P3).
2. Place the aluminum pole (P6) into the hole in the gear (P3) and glue (S4) to seal the pieces in place.
3. Take the curved plastic (P5) and the aluminum pole (P6) and gear (P3) piece, attach the curved plastic (P5) to the piece using glue (S4).
Step 3: Put together the mechanical arm
1. Take one servo (P4) and two bolts (P1) and bolt the servo 2-1/2" into the front portion of the 10" PVC pipe. This will be where the claw attaches.
2. Place the claw created with gears (P3), aluminum poles (P6), and curved plastic (P5) into the front portion of the 10" PVC piece you just created, aligning the gears with that on the servo.
3. Take the second servo (P4) and two bolts (P1) and bolt the servo into the other 10" piece of PVC
4. Take the last aluminum pole (P6) and place it through the hole in one gear (P3).
5. Place the aluminum pole (P6) and gear (P3) 1/2" into the first 10" PVC on the opposite side of the servo. Using glue (S4), seal the piece in place.
