WORK SYSTEMS PACKAGE (WSP) 



An example of integration of manipulators and tools is found in the recently com- 

 pleted work systems package (WSP), developed as part of the DOT program. 



The WSP (figure 13) is comprised of manipulators and a variety of hydraulic tools 

 that are integrated to accomplish tasks to ocean depths of 20,000 feet (6100 meters). The 

 system can be readily adapted to the manned submersibles-ALVIN, SEACLIFF, and 

 TURTLE-and the robot vehicles-CURV III and RUWS-to extend their work capabilities. 

 In addition, it can be positioned and controlled by divers or operated from a surface-support 

 ship. The system was designed to perform a complete work operation on the seafloor with- 

 out resurfacing for tool interchange. Potential tasks include recovery, construction, instal- 

 lation, and repair operations. Low-light-level television cameras with quartz-iodide 

 flood lights augment the operator's vision. 



Figure 13. Work systems package. 



The skeletal structure of the WSP is a simple tubular network fabricated from 

 5086-alloy aluminum. Its configuration is the result of spatially arranging all major system 

 components to meet the aforementioned requirements and then connecting them with a 

 single strongback. The problem of use with various submersibles was solved by providing 

 an interface plate between the vehicle and the WSP. The interface plate is mounted to the 

 parent vehicle by a single 1 -inch-diameter bolt (2.5 centimeters) that can be severed by 

 either of two explosively-actuated bolt cutters, thereby satisfying the requirement for a 

 single-point jettison capability with redundancy. 



It was necessary to reduce the underwater weight of the WSP to make it compatible 

 with the trim capacities of each parent submersible. Blocks of syntactic foam with a density 

 of 35 pounds per cubic foot were shaped and mounted on the package and skid structure. 

 The foam was positioned to avoid interference with work functions while providing good 

 stability characteristics to the host vehicle. 



Mounted on each end of the main cross-tube are two simple manipulator or 

 "grabber" arms which can secure and hold a workpiece for stability or assist the dexterous 

 manipulator work arm. They are hydraulically actuated and can perform six rate-controlled 

 functions including a 24-inch (61 centimeters) linear extension. Lift capacity is 250 pounds 

 (113 kilograms) at a 9- foot (3 meters) extension and the grip force is 500 pounds (227 

 kilograms). 



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