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Design of a Low Cost Open-Architecture Underwater Robotic Manipulator Using Additive Manufacturing

This paper describes a collaborative multi-year project between the Pearl Harbor Naval Shipyard (shipyard) and the United States Naval Academy (USNA) to design, test, and field a robotic arm to support the shipyard’s underwater remotely operated vehicle (ROV) program. The shipyard’s ROVs were reaching a state of inefficiency and ineffectiveness. Rather than purchasing top-dollar replacement ROVs with fully integrated functionality, the shipyard procured a robust “truck” like ROV and partnered with universities to develop modular payloads for increased functionality. The USNA-Shipyard partnership focuses on a 3D printable 4+ degree of freedom robotic arm with modular shoulder and wrist joints. The modular joints allow for adaptability in attachment to a host vehicle as well as adaptability of tooling on the grasper end.