Kinematic and technological aspects of designing an energy-efficient underwater manipulator for inspection ROVs

Abstract

The article justifies the application of self-locking worm gears and hybrid additive manufacturing (FDM and SLA) to overcome the functional limitations of light inspection ROVs. The transition from primitive single-link grippers to multi-link articulated manipulators is hindered by the backdrivability of classical gears, causing power deficits and motor overheating. The proposed integration of mechanical self-locking ensures passive load holding without static energy consumption. Additionally, the use of hermetic air microcavities via FDM infill adjustment compensates for the mass of metal components, achieving local neutral buoyancy. These solutions minimize the material consumption and cost, enabling budget underwater vehicles to perform full-fledged contact operations.