Subsea Robotics - The Perfect Tool for Deep Water Environments

The Challenge

Remotely operated underwater vehicles (ROVs) or unmanned underwater vehicles (UUVs) are subsea robotics controlled by a crew of humans above the water.

ROVs have become an essential tool indispensable to the offshore oil and gas sector, utilized in intervention tasks that take place in deep water environments. Work class (class Ill) type ROVs are systems that can be the size and weight of a small car and feature several manipulators used to carry out tasks such as the removal of debris and operation of valves in deep water environments.

Aligning Antennas to Satellites with Antenna Pointing Systems

Image Credit: Celera Motion

While a great deal of manipulators are hydraulically actuated for high payload conditions, BLDC actuated manipulators are increasingly sought after for advanced tasks that demand fine control and high reliability of the gripper position and contact force sensing.

BLDC actuated manipulators are typically oil-filled systems and usually depend on analog resolvers, which provide reliable sensing of position when subjected to high pressures at great depths. However, these resolvers tend to be bulky, cumbersome devices that need an external AC excitation signal as well as supplementary signal processing hardware to convert the analog output.

The Solution

The Celera Motion IncOder™ Series is the next-generation of resolver, offering the same advantages as a reliably sturdy analog resolver with a high-resolution digital position output. Including a DC supply input, and multiple digital output options as standard, integration of the IncOder feedback sensor into a closed-loop manipulator control system can be a simple task. Each of the IncOder functions can operate when immersed in oil, and when choosing extended option “V” IncOder is potted under vacuum to considerably decrease the amount of internal voids in the potting compound structure – optimal for use at high pressures. Each product comes equipped with durable low corrosion anodized aluminum alloy housing, developed with a compact, large bore, low profile form factor.

Aligning Antennas to Satellites with Antenna Pointing Systems

Image Credit: Celera Motion

The Benefit

The IncOder series offers increased accuracy relevant to torque-sensing and the control of each single robotic joint in the ROV manipulators, with high resolution outputs up to 22-bits the system enables more demanding manipulator functions.

The robust design of the IncOder enables an extension of performance for functionality at high pressures, which is well-suited for use in ROV manipulators. The low-profile form factor allows for a miniaturized manipulator design limiting the impact of dynamic coupling between the vehicle and the arm.

Aligning Antennas to Satellites with Antenna Pointing Systems

Image Credit: Celera Motion

Specifications

Source: Celera Motion

   
Resolution 22-bits possible
Internal Diameter 33 mm - 526.5 mm
Repeatability +/ - 1 count
Pressure 280 bar (with extended option "V")

 

This information has been sourced, reviewed and adapted from materials provided by Celera Motion.

For more information on this source, please visit Celera Motion.

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