A low-cost 3D printed mini underwater vehicle: Design and Fabrication

This paper introduces the conception, design, fabrication, and control of a modular remotely operated underwater vehicle. It is an affordable submarine robot intended for inspection operations in shallow depths. It has a 3D-Printed hull, and it can be adjusted according to the respective needs. It is equipped with six thrusters which allow it to have five Degrees of Freedom enabling increased maneuverability while it operates. The robot has marginally positive buoyancy which allows it to emerge in case of a malfunction, and the fins attached to the motors enhance its stability. The design, development, and construction as well as the components and electronics of the vehicle are presented. Moreover, the forces acting on the ROV and the buoyancy are introduced, along with the motion generation of the motors. The IMU sensor calibration is explaineed and a dataset of the rotational movement was analyzed into 3 axes. The proposed design features low cost, customizability and sturdiness allowing the user to configure and operate by himself.