I started a ROV project several years ago and have made so many mistakes, I decided to start over. For my thrusters, I am going to 3D print ones like at https://www.bluerobotics.com/product-ca ... /bluerov2/. My first question is about thruster placement. I would like to go pretty fast wherever, but at the same time be able to maneuver somewhat. The placement like on the https://www.bluerobotics.com/product-ca ... /bluerov2/ seems to be able to do that. I know there are different ways of doing it, but I would like the best for what I am doing. I see that they have six thrusters, two are horizontal and four are vertical. What do the two extra vertical do?
My next question is what ECS’s are everyone using? I have seen some car ones, but they have a fan on them. What would that fan do in a sealed tube? I want to not make so many mistakes this time. Thanks
Thruster placement
Re: Thruster placement
There are two basic thruster layouts for ROVs, axial and vectored. The vertical thrusters are the same for both, so I'll come back to them in a minute.
The axial layout is simplest. You have two thrusters, often at the rear of the ROV, which drive the ROV forwards and backwards, but also steer it. Sometimes a third thruster is added, called a lateral thruster. This thruster is mounted across the vehicle in the centre. It allows you to fly the ROV sideways like a crab. Lots of smaller ROVs don't bother with it.
The vectored layout has a thruster at each corner of the ROV, angled at about 45 degrees. These thrusters all work together to drive the ROV forward, backwards, left, right, and to rotate as well.
You can have as many vertical thrusters as you like/need. More thrusters just means the ability to lift heavier objects. You need to mount the vertical thrusters in such a way that the lift is centred. Generally small ROVs have one or two.
I would suggest starting with an axial layout. It has a number of advantages for the beginner. The calculations required to control the thrusters are much simpler, and you need fewer thrusters.
As for ESCs, I'm using the Hobbyking 30amp car ESC. No fan, and powerful enough for my needs.
https://hobbyking.com/en_us/hobbykingr- ... tore=en_us
The axial layout is simplest. You have two thrusters, often at the rear of the ROV, which drive the ROV forwards and backwards, but also steer it. Sometimes a third thruster is added, called a lateral thruster. This thruster is mounted across the vehicle in the centre. It allows you to fly the ROV sideways like a crab. Lots of smaller ROVs don't bother with it.
The vectored layout has a thruster at each corner of the ROV, angled at about 45 degrees. These thrusters all work together to drive the ROV forward, backwards, left, right, and to rotate as well.
You can have as many vertical thrusters as you like/need. More thrusters just means the ability to lift heavier objects. You need to mount the vertical thrusters in such a way that the lift is centred. Generally small ROVs have one or two.
I would suggest starting with an axial layout. It has a number of advantages for the beginner. The calculations required to control the thrusters are much simpler, and you need fewer thrusters.
As for ESCs, I'm using the Hobbyking 30amp car ESC. No fan, and powerful enough for my needs.
https://hobbyking.com/en_us/hobbykingr- ... tore=en_us
- Attachments
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- Vectored layout
- Vectored.jpg (28.21 KiB) Viewed 5680 times
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- Axial layout
- Axial.jpg (26.31 KiB) Viewed 5680 times
Re: Thruster placement
I was leaning toward the axial, so I think that is where I will start. For what I am doing that will probably be the best. I guess on the Bluerobotics the extra vertical thrusters are like you said, for lifting. I will probably do two horizontal and two vertical and maybe add the lateral later. Thanks.