Modeling of an Underwater Robotic Manipulator With a Customized End-Effector for Removal of Derelict Pots

Abstract

This thesis investigates the opportunity of generating complementary technology devices forexisting remotely operated vehicles (ROVs) so that abandoned material can be collected andretrieved, particularly from the bottom of the ocean.According to World Wide Fund for Nature (WWF), over eight million tons of plastic end upin the sea each year [13]. Furthermore, they claim that based on a survey of Northern fulmarsin the North Sea, as many as 9 out of 10 birds have plastic in their stomachs. However, plasticis not the only issue regarding marine litter. A survey from the Institute of Marine Researchshows that accessories findings reported by divers in the bottom of the ocean contain a sig-nificant number of derelict pots in addition to many other objects, which is a result of ghostfishing [37]. This issue is given a high priority in this report.The steps of this report were first to investigate existing solutions for deep-sea robotic ma-nipulation. This paper will aim its focus on the development of an underwater robot arm,which is to be mounted on a ROV. The center of interest will be only on the arm and notthe ROV. The robot arm’s main task is to attach a custom-made end-effector (containing acarabiner and a balloon inside) unto derelict pots and then activate the balloon such that thederelict pots are lifted up to the sea surface. This prototype was intended to be actuated by seawater.