Page 507 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition

504 CHAPTER 19 Manipulators
The previous version of The ROV Manual essentially dealt with observation-class ROVs, those with a weight of 200 lbs (91 kg) or less. Although these smaller ROVs are proliferating worldwide, most are limited in their manipulative capabilities. With the expansion of this version of the manual to include the next class of ROVs—mid-sized ROVs (MSROVs) weighing up to 2000lbs (907 kg)—the potential to increase the manipulator and tooling capability of these vehicles grows dramatically. With that in mind, a section that deals with manipulators (this chapter) and tooling (Chapter 20) becomes an essential part of the manual. The principles and technology discussed in this section can be extended to essentially any class of ROV.
As discussed in the next section, the applications of ROVs are widespread, which means that the tasks they have to be designed to accomplish are also widespread. Without some type of manip- ulator/tool system, the operator is limited to observation only. Once a decision is made to incorpo- rate a manipulator or tool system, the design decisions become more involved. The requirement can range from a simple device used to grab an object, up to a complex manipulator that requires position control and force feedback. Whether conducting oceanographic research or neutralizing a mine, the requirements of the tasks to be accomplished will drive the choice of manipulators and tools to be used by the vehicle. Those choices and their impact on the vehicles will be discussed in more detail in the following sections.
19.1 Background
As discussed in the section on the history of ROVs, the earliest commercial vehicles were essen- tially “flying eyeballs” (Figure 19.1) that hovered over and watched the work performed by a very capable work tool using dual-position-controlled arms with force feedback—the diver. As offshore
FIGURE 19.1
The original “Flying Eyeball”—Hydro Products RCV 225.