Mechanical — Frame & Structure
[INSERT DETAILS HERE: Complete this section with the following information]
Frame Design
Design Rationale
[INSERT DETAILS HERE: Why this frame geometry was chosen — material selection (e.g., HDPE, aluminum, acrylic), manufacturability, weight budget, hydrodynamic considerations]
Specifications
| Parameter | Value |
|---|---|
| Dimensions (L × W × H) | 45x35x35 cm |
| Dry Weight | 7.64 kg (without tether) |
| Wet Weight (slightly positive) | 7.85 kg (without tether) |
| Frame Material | Carbon fiber |
| Depth Rating | 9 meters |
| Manufacturing Method | CNC Router (frame and camera enclosures) CO₂ laser (acrylic lens window for camera enclosures) 3D print (frame joints) Hand-cut (silicone gaskets for all enclosures) |
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Thruster Layout
The frame mounts 8 thrusters in a 3D omnidirectional configuration — 4 top-mounted and 4 bottom-mounted at opposing cant angles. See Motor Mixing Matrix for the software mapping.
| Motor | Position | Cant Angle |
|---|---|---|
| MOT_1 | Front-Right-Top | [INSERT DETAILS HERE] |
| MOT_2 | Front-Left-Top | [INSERT DETAILS HERE] |
| MOT_3 | Rear-Right-Top | [INSERT DETAILS HERE] |
| MOT_4 | Rear-Left-Top | [INSERT DETAILS HERE] |
| MOT_5 | Front-Right-Bottom | [INSERT DETAILS HERE] |
| MOT_6 | Front-Left-Bottom | [INSERT DETAILS HERE] |
| MOT_7 | Rear-Right-Bottom | [INSERT DETAILS HERE] |
| MOT_8 | Rear-Left-Bottom | [INSERT DETAILS HERE] |
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Buoyancy & Ballasting
[INSERT DETAILS HERE: Buoyancy foam type and placement, ballast weight locations, center of buoyancy vs center of gravity analysis, stability characteristics]
Enclosures & Sealing
[INSERT DETAILS HERE: Electronics enclosure type (e.g., acrylic tube, Pelican case), sealing method (O-rings, epoxy), pressure testing procedure, cable penetrator model and count]
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CAD Model
[INSERT DETAILS HERE: CAD software used, link to model files if applicable, exploded view description]
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