5-Axis Robot Arm
In order to pickup and manipulate objects with the submarine I designed a 5-axis Robot Arm. It has a reach similar to a human of 24 in (0.61 m) while lifting up to 11 lbs (5 kg). It only weighs 30 lbs (13.4 kg). It was also designed to be stiff and have a maximum defection of 5 mm under full load.
Cross section through the robotic arm.
Axis 1 through 4 actuators are then contained in housings that I designed that keep them dry and at atmospheric pressure. The housing uses many static O-Ring seals and one high durometer dynamic seal for the output shaft. From initial vacuum testing all the seals do not leak on all the housings.
Cross section of the actuator design used on Axis 1 through 4
Mostly fully assembled robot arm being vacuum tested