IMAROV only has 4 thrusters (4 degrees of freedom). I used a mixture of BlueRobotics and other components:

  • single BlueRobotics enclosure (D=75mm L=300mm)
  • 4 x APISQUEEN X1 thrusters with 45A bi-directional ESCs
  • BlueRobotics Navigator / RPi 4
  • Fathom X tether and interface boards
  • BlueRobotics Low-Light HD USB Camera
  • BlueRobotics Bar30 depth sensor
  • gimble servo with custom mount
  • custom built 8x18650 battery back (4S2P)
  • alum. and PLA 3D printed frame

The challenge was fitting all the components into the small enclosure, but the system works well based on initial pool testing (yet to be ocean tested). I am using BlueRobotics Cockpit software with a game controller on the topside laptop. I designed the alum. frame and thrusters to detach easily when the enclosure needs to be opened (for battery change etc.) It only weights a couple of kg.

Blue Robotics Parts List

Item

Quantity

Code

Cost (USD)

Acrylic Enclosure (75mm x 240mm)

1

BR-102649-240

180

Acrylic dome

1

BR-101059

32

Alum. flange with locking cord

2

BR-100647

76

Alum. end cap (7 x M10 holes)

1

BR-100949-007

18

Tether - 1 twisted pair (50m)

1

BR-100638

250

Fathom X interface boards (pair)

1

BR-100178

280

Navigator flight controller

1

BR-100367

220

Raspberry Pi 4 2GB

1

BR-100950

65

5V 6A Power supply

1

BR-100869

32

Low light HD USB camera

1

BR-100126

120

Penetrator 4.5mm HC

5

BR-100870-145

65

Bar30 depth sensor

1

BR-100586

90

Pressure relief valve

1

BR-100804

32

1460

Thrusters/ESCs

Item

Quantity

APISQUEEN X1 Thruster CCW

2

APISQUEEN X1 Thruster CW

2

APISQUEEN 45A bi-directional ESC

4

Other Parts

Item

Dimensions

Quantity

Purpose

Aluminium flat plate

2

Thruster ribs

Aluminium flat plate

2

Cable lugs

Aluminium C channel

1

Ballast track

Aluminium C channel

2

Hz thruster lock

SS wire rope

D=2mm L=350mm

1

Carry handle

SS swages

2

Carry handle

SS thimbles

2

Carry handle

SS Shackle

1

Tether strain safety

SS thimbles

1

Tether strain safety

Wago 4MM 10way Splicing connector with levers

2

+/- to ESCs

Steel thread (M4)

L=155mm

2

Battery holder

Nuts (M4)

8

Battery holder

Nickel strip

L=300mm

Battery holder

Adhesive backed rubber

Battery holder

20A blade fuse

1

Battery holder

Fuse holder

1

Battery holder

Amass connector (male & female)

1

Battery holder

18650 Lithium battery

8

Battery holder

Steel rod

D=1.5mm L=75mm

1

Rubber sheet or roll

1.5 thick

Glued to inside of enclosure brackets

Consumables

Item

Heat shrink

Solder

Polyurethane adhesive