Manipulator

[Patricia]

Hi,

Is anyone using a manipulator arm with their ROV? Can you give me
some information. How is it controlled? What are you using it for?
What is the cost?

Thanks!

Patricia

[Michael and Haley]

Patricia, we have used a hydrolek 5 function as well as a DOE 2 and 3
finger manipulators on our HD2+2. We found the 5 function to be
useful but by and large we found it easier to maneuver the vehicle
then to move the arm to where we wanted it to go.

Most of the work we at Cordell Bank have done has been simple grabbing
or releasing of items on the seafloor. We have taken samples of
various corals and sponges, used the manipulators to cut long lines
and nets and also pick up crab pots. I have found the 2 finger
manipulator to be the most useful for attaching home made apparatus
to.

Feel free to give a ring if you want to chat more: 415 663 1437

Take care,
M

[Wolfgang]

The stock DOE manipulator :

Our Phantom at the Pacific Biological Station was originally equipped
with a 3-way, 2 motor, 2 finger style claw DOE manipulator. Its
controlled with a +/- toggle switch and the rotary aux selector switch
that also tilt the stock video camera. The electric motors are I
believe the same 80 VDC 0.8 A type that tilt the camera. Some claim
to have cut polyline with the claw, but I have yet to see it. Not a
power house, but adequate for placing markers on the bottom etc.
Original cost was something like $ 12 k, before my time with the unit.

The 3 function part is where the arm 's base slides forward about 5
inches and then rotates at the elbow, all on the one motor, swinging
the claw down in front into view and near the substrate. Then you
select the alternate motor and open/close the claw. The claw does not
rotate on its own axis, except by orientaion at time of mounting. Most
of the lining up with objects is done by maneuvering the vehicle.

We installed an HID arclight which required a separate circuit, and in
order to get enough copper wires had to give up one function of AUX.
The motors are identical though, so we can switch the same cable from
one to the other half of the manipulator as a pre-dive determination
of fucntion. On Rockfish surveys we use the base of the arm to tilt a
DIDSON sonar, and on other habitat and shellfish surveys we use a
Cyclops Still camera and the claw part of the arm to place markers
etc.

Some custom circuitry was available from DOE to allow up to 8-way AUX
functions using two power wires and one signal wire, but we haven't
installed that yet.
I've uploaded some images, all start with "manip" as the filename.

Looking forward to what other manip solutions are being used by
Phantom owners.

Cheers ! Wolf.