Embedded Files
IMG_0058.MOVVideo showing the system deploying a robot
Overview
Overview
Using an off-the-shelf autonomous boat, I developed and integrated a system for launching Apeiron Lab's robot. This involved mechanical design and simulation, assembly, electrical integration, and writing camera streaming software. The system was tested offshore, successfully completing a 10.5 mile mission, at the end of which it deployed a robot (shown in the video to the left). I created procedures and documentation to ensure smooth operations. I also developed low frequency camera streaming software so that the system status could be monitored over cellular data.
The platform had limited weight, and needed to be stable in ocean conditions (sea state of at least 3). The system needed to be waterproof, as well as maintain stability during deployment of the vehicle.
Skills: OnShape, FEA, Python, DFM, field operations
Field Trials
Field Trials
I conducted multiple field test with the system, culminating in a long distance traverse. The boat travel 10.5 miles starting offshore and ending at the mouth of boston harbor. At the end of the deployment, the boat deployed the robot which it had traversed with.
The path the surface vehicle took during it's 10.5 miles mission
The boat after completing it's transit back to the mouth of Boston Harbor
Plate buckle simulation
Integrity of clamped tube
Onshape Simulation
Onshape Simulation
I ran simulations using Onshape's built in FEA tool to ensure system integrity. This included doing statics, and calculating expected loads from sea conditions. The results were validated during field testing, where the vehicle operated in waves.
Onshape CAD
Onshape CAD
I designed the launch system in Onshape. The system consisted of a salt water rated linear actuator, and a custom designed claw. It was designed such that it could be fabricated using only 3D printers and a water jet. Stability and efficiency were both taken into consideration, and the design proved capable of operating at the desired sea state and range.
Claw assembly
Full vehicle CAD
Assembled System Photos
Assembled System Photos
The vehicle preparing for deployment
Fully assembled system
The claw system
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