UNCLASSIFIED 



SECURITY CLASSIFICATION OF THIS PAGE (When Data Entered) 



REPORT DOCUMENTATION PAGE 



READ INSTRUCTIONS 

 BEFORE COMPLETING FORM 



I. REPORT NUMBER 



NOSC Technical Report 632 (TR 632) 



2. GOVT ACCESSION NO 



3. RECIPIENT'S CATALOG NUMBER 



4. TITLE (and Subtitle) 



DEVELOPMENT OF AN UNDERWATER MANIPULATOR FOR USE 

 ON A FREE-SWIMMING UNMANNED SUBMERSIBLE 



5. TYPE OF REPORT & PERIOD COVERED 



Development 



April 1979-October 1980 



6. PERFORMING ORG. REPORT NUMBER 



7. AUTHORfsJ 



Peter Bosse 



Paul J. Heckman, Jr. 



8. CONTRACT OR GRANT NUMBERfs; 



9. PERFORMING ORGANIZATION NAME AND ADDRESS 



Naval Ocean Systems Center 

 San Diego, CA 92152 



62766N,ZF61512,ZD57 



II. CONTROLLING OFFICE NAME AND ADDRESS 



12. REPORT DATE 



October 1980 



13. NUMBER OF PAGES 



72 



14. MONITORING AGENCY NASnE & ADDRESS(tl dltlerent from Controlling Oltlce) 



15. SECURITY CLASS, (ol thla report) 



Unclassified 



16. DISTRIBUTION STATEMENT (of thla Report) 



Approved for public release; distribution unlimited 





17. DISTRIBUTION STATEMENT (ol the abstract entered In Block 30, It dltlerent from Report) 



18. SUPPLEMENTARY NOTES 



19. KEY WORDS (Continue 



Underwater inspection 

 Underwater work 

 Underwater manipulators 

 Free-swimming submersibles 

 Untethered submersibles 



verse aide if necessary and identify by block number) 



20. ABSTRACT (Continue on reverse side If necessary and Identify by block number) 



The inspection of underwater objects such as pipelines and structures can be made more cost- 

 effective through the development and use of unmanned, free-swimming (untethered) submersibles. A 

 critical adjunct is a manipulator capable of emplacing sensors, positioning imaging subsystems, and 

 retrieving small objects. A small, lightweight, electrically driven manipulator capable of handling an 

 8-pound load in water was designed, developed, and tested at NOSC. The oil-filled, pressure- 

 compensated motor assembly design, incorporating potentiometer feedback and harmonic drive 

 gearing, represents one of the most compact designs of its kind. Sleek exterior design, together with 

 smooth, quiet operation, are noteworthy features. 



DD ,E 



EDITION OF 1 NOV 65 IS OBSOLETE 



S/N 0102-LF-014-6601 



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