Pluto: Build

Overview

This wiki page documents the build process for Pluto, a small ROV built as an experiment by Connor Novak and Christina Segar during summer '17. Pluto is meant to test methods of RC control of submersibles, as well as quick prototyping methods for sealing hulls and creating modular attachment methods.

Sources

• Sparkfun Article: Overview of controlling arduinos with RC transmitters (link)
• RCArduino Blog Post: Why/How to use Interrupts to Read RC Signals w/ Arduino (link)
• XP3903 Transmitter Manual: Manual for Transmitter Programming & Setup (link)

Diagrams

Wiring Diagrams made using Fritzing software (reference)
WARNING: OUT OF DATE

Motor Controller Board Diagram

Parts List

• 1X Arduino Uno (reference)
• 1X hitec RCD8600 Micro 555 Receiver (reference) (reference)
• 1X JR XP9303 Transmitter (reference)
• 3X 30V 22 milli-ohm logic level MOSFET (reference)
• 1X L78S09CV Voltage Regulator (reference)
• 1X Turnigy 11.1V 3 Cell Li-Po Battery (reference)
• 2X Power Distribution Bus (CAD)
• 3X 10K Resistor (reference)
• 3X 100K Resistor (reference)
• 3X 1N4007 Diode (reference)
• 1X Mini Reed Switch (reference)
• 1X Standard Magnet
• WARNING: UNFINISHED

Process

1. Print 1X triple pass-through end cap & 1X sealed end cap (insert picture here)
2. Seal end cap surfaces (documentation)
3. Create motor wire hull pass-through connectors (insert picture here)
4. Choose tube clamps and thruster mounts as necessary for chosen thruster configuration (documentation); print clamps & thruster mounts (insert picture here)
5. Connect GND from battery to 1st PDB (this will be GND PDB); Connect PWR from battery to 2nd PDB (this will be 12V PDB)
6. Connect regulator VIN leg to 12V PDB; Connect GND leg to GND PDB; Connect VOUT leg to Arduino VIN pin (insert picture here)
7. Connect GND from Arduino to GND PDB
8. For each Mos Module, Connect GND leg to GND PDB; Connect VIN leg to 12V PDB; Connect Signal leg to Arduino PWM digital port (insert picture here)
9. Connect PWR pin on receiver to 5V pin on Arduino; Connect GND pin on receiver to GND PDB
10. Connect SIG pin from each receiver channel to Arduino PWM digital port (insert picture here) WARNING: THIS SECTION UNFINISHED

Design

Pluto is a miniature submarine at 2.5 inches in outer diameter and only 10 inches long. We wanted to test rapid prototyping techniques to create custom fixtures for tube sealing and motor mounting that could easily be scaled up for bigger subs. The pieces that clamp onto the middle of the tube are modular and allow for different motor mounting configurations to fit the needs of any particular sub. The clamps on either end of the tube function to hold the end cap firmly in place, and can also hold an attachment such as the weight balancing system on Pluto comprised of a long threaded rod and several heavy nuts that serve to offset weight as necessary. Pluto's design had to meet the constraints of both being absolutely water-tight to protect the electronics inside the tube as well as fitting all the necessary component within a small space.

Isometric View

Side View

Top View

Pluto's electronics board was created in order to keep all of the components tightly packed into the tube while still allowing them to be easily accessible for maintenance and modifications.

Electronics Board Top View

Electronics Board Bottom View

This Github Wiki Page Under Construction
Connor Novak last edited on 07/19/17
Christina Segar last edited on 08/02/17