Final LoCO Assembly - LoCO-AUV/loco_config GitHub Wiki

This page covers how to take your two completed internal structures for the left and right enclosure and complete the assembly of the robot. You should have, at this point, two assembled internal structures, two enclosures with assembled front end caps, and the two assembled rear end caps, attached to the internal structures.

Attaching Enclosures Together

To attach the enclosures together, you need to first affix the clamps to the enclosures. One set needs to be attached at nearly the rear of the enclosure, the other midway through. You can look at the CAD model for more accurate locations. These clamps are simply placed around the enclosure, then screwed in with the bolts provided by BlueRobotics. Note that only one side of the screw holes for each clamp is threaded, so you need to make sure that the appropriate sides are attached.

After this, you can attach the enclosures together with the 3D printed center braces, which you can simply screw in with the bolts provided by BlueRobotics with the clamps.

Now you should have two tubes attached to one another.

Inserting Internal Assemblies

To insert your internal assemblies into the enclosures, just slide the enclosures in gently, until the rear end caps are seated on the enclosures. If you have ballast attached (which you should), this may be a tight fit, just be careful and go slowly.

Attaching Thrusters

Now, you need to attach thrusters. Each thruster gets attached to its own 3D printed thruster mount with four M3x10 hex screws, as seen below.

Once this is done, you need to mount the two rear thrusters to the back thruster support. This can be seen below (along with the back enclosure caps and the center thruster).

Lastly, when deploying the robot, you need to attach the thrusters to the center struts. This is shown (without the bolts) below.

Ballasting

Make sure to ballast and trim your robot, either according to an existing configuration or a new one. Instructions can be found here: Ballasting Configurations