MARIS 7080 Underwater Manipulator
To achieve the intervention capabilities, SAUVIM is equipped with a 7 degrees of freedom robotic manipulator (MARIS 7080, which stands for Manipolatore Antropomorfo per Interventi Sottomarini).
The arm, unlike the classical hydraulic technology in use for ROVs, is actuated by electromechanical components, in order to meet the low-power requirements and higher accuracy in manipulation tasks. Each degree of freedom is actuated by a brushless motor with a reduction unit (harmonic drive). The accuracy of the angular measurement is guaranteed by the combination of two resolvers, mounted respectively before and after the reduction unit. This configuration allows a sub-millimeter positioning of the manipulator's end-effector, an important requirement when dealing with a large class of underwater intervention.
A force/torque sensor, installed between the last degree of freedom of the wrist and the gripper, senses the amount of the force and torque acting on the gripper.
Designed for underwater applications at extreme depths, it is internally compensated with appropriate oil.
The arm is hosted within the fromt bay of SAUVIM. During the navigation, it securely folds itself around the base in order to prevent accidental damages.
