Design and development of an underwater vehicle with the structure mounted on spheres

In this work, design and development of an underwater mobile vehicle structure suitable for an underwater mobile robot is described. The mobile structure is constructed from aluminum plates with openings to reduce the resistance to flow of water as the structure traverses its path. Two longitudinal and transverse shafts are used to hold the spheres. The structure is designed and fabricated so that the spheres contact the ground and act as wheels to provide mobility. An underwater motor, through proper transmission provides the, drive for the spheres. The mobile structure is tested for its mobility on the floor and inside water. The speed of the structure on land is more than that inside water. Based on initial results, it is proposed to conduct further tests to check the mobility of the structure at various depths in the forward and reverse directions. Specific advantages of the new design are simple construction with a few mechanical components and simple controls. This design of the underwater structure is very cost effective and can be used in many underwater applications.