MODULAR RAPID DEVELOPMENT SYSTEM FOR BUILDING UNDERWATER ROBOTS AND ROBOTIC VEHICLES

摘要

A modular system for building underwater robotic vehicles (URVs), including a pressure vessel system, modular chassis elements, a propulsion system and compatible buoyancy modules. The pressure vessel system uses standardized, interchangeable modules to allow for ease of modification of the URV and accommodation of different internal and external components such as sensors and computer systems. The system also includes standard, reconfigurable connections of the pressure vessel to the modular chassis system. A standardized, modular propulsion system includes a magnetic clutch, and a magnetic sleeve used to power the URV on or off.

主权项

1. An underwater pressure vessel system, comprising:
a dry end cap comprising
a generally cylindrical internal portion including at least one groove extending around a perimeter of the internal portion, the at least one groove located proximate to a first end of the dry end cap and configured for receiving an o-ring seal;at least one o-ring seal coupled to the cylindrical body and seated in the at least one groove;a generally cylindrical external portion concentric to the internal portion and located distal to the first end, wherein a diameter of the external portion is greater than a diameter of the internal portion, and wherein an end of the external portion distal to the internal portion is a second end of the dry end cap;a plurality of component mounting holes included in the first end of the internal portion, the component mounting holes arrayed in a circle proximate to the perimeter of the internal portion and oriented parallel to a longitudinal axis of the dry end cap, the component mounting holes configured for coupling of a component to the dry end cap;a plurality of link strut mounting holes including in the external portion of the dry end cap, the link strut mounting holes arrayed around a perimeter of the external portion and oriented radially with respect to the external portion, the link strut mounting holes configured to couple to a link strut; anda plurality of tube mounting holes arrayed around the perimeter of the internal portion, oriented radially with respect to the internal portion, and located between the at least one o-ring and the external portion, wherein the plurality of tube mounting holes are configured for coupling to a pressure vessel tube.