I'm constructing an amphibious vehicle that can retrieve positively & negatively buoyant objects. My current thruster layout utilizes (2) 500 GPH bilge pump cartridges with propellers for forward motion & turning & (1) 750 GPH bilge pump cartridge with propeller for controlling depth. Objects are recovered by a servo powered claw at the front of the craft. The problem is that my current positioning of the vertical thruster does not allow the claw to surface to recover buoyant objects. How can I rearrange the hull/thruster layout to recover surface objects without losing my ability to recover submerged objects?
How about a weight that shifts the center of gravity, so the whole unit tilts then either backwards and the claw up, or forward so it tilts downwards.
the weight could be a heavy steel piece on a linear slider, and a threaded rod thats connected to a motor and the weight. driving the motor turns the threaded shaft and moves the weight on the slider; thus changing the tipping point.
I think the deep trekker rov uses this principle to tilt the whole rov so you can use the horizontal thrusters to move vertically.
You could make the ROV square and mount the claw to something like a jackscrew between two rails so the claw can be raised or lowered depending on what you need. The rails would keep the claw from twisting as the jackscrew turns.
