This year, the GEARS robotics team has assembled the Vaquita 4.0 for the Ranger class MATE ROV Competition. metal bars and connecters make up the structure of the ROV because they are strong, stable, and provide a better casing for the design. This pressure-resistant material creates a robust rectangular frame to which all components of the vehicle are mounted.

Movement

The Vaquita 4.0 utilizes six Blue Robotics thrusters to facilitate its movement. These powerful, water-resistant thrusters can generate up to 24.5 newtons of force. Two are positioned vertically on the top of the vehicle’s frame, allowing it to ascend and descend smoothly. The remaining four thrusters are located on the corners of the vehicle and provide horizontal movement. Their 45° angled placement allows the vehicle to swivel in place or move in any horizontal direction without needing to rotate. These six thrusters give the Vaquita 4.0 enhanced maneuverability and speed, especially when flying a transect or investigating invasive species.

Claw

The Vaquita 4.0’s claw system was designed in SolidWorks and 3D printed in separate pieces, which were then assembled. This modular design allows for maximum flexibility in both design and application. The claw consists of two major sections: the gearbox and the gripper. The gripper includes two pieces that securely hold a 4-inch pulse linear actuator, which operates a pin that opens and closes the claw’s three talons. A circular extruded section of the gripper allows it to rotate smoothly within the gearbox. The gearbox includes a motor mount for a Blue Robotics M200 motor, which enables wrist movement. The motor rotates a worm gear that interlocks with a spur gear attached to the gripper base. This unique claw design provides enhanced dexterity, allowing the ROV to carefully perform maintenance on offshore wind farms.

Tether

The ROV’s tether consists of four components: one 10-gauge 2-wire cable, an Ethernet cable, a PVC 1/4" OD tube, and a PVC 1/4" ID x 3/8" OD tube. The 10-gauge cable transmits 12 volts of power to the ROV and minimizes voltage drops. The Ethernet cable sends and receives data between the ROV and the control system. The two PVC tubes allow the tether to achieve neutral buoyancy which reduces drag.

Internal

The Vaquita 4.0’s control center is housed in a Blue Robotics Watertight Enclosure, which protects the electronics from water damage while allowing easy access. These components—including the camera and leak sensors—are run by a Blue Robotics Navigator Flight Controller. A 180° rotating camera, positioned inside a glass dome, provides high-definition video.

Safety

At GEARS, safety is always a priority when designing products. A vent was added to the Watertight Enclosure to allow for pressure testing and safe release. Each thruster is equipped with a 3D printed protective shroud to prevent entanglement with debris or personnel. Finally, an expandable braided cable sleeve secures the wires, tubes, and Ethernet cable together, reducing the risk of the tether snagging on shipwrecks or harming wildlife.