Hardware Spec - MeCO-AUV/MeCO-Documentation GitHub Wiki
Home | Hardware Specifications | Software Packages | Api-DOCS
MeCO: Key Features
The frame of MeCO is designed to securely hold the tubes and thrusters together while providing mounting holes for external components. It utilizes Blue Robotics' anodized aluminum clamps for the 4" side tubes and angled thrusters. A custom-designed clamp holds the 6" center tube and attaches to the 4" clamps. Struts with mounting holes connect the two sets of clamps, and a bottom strut provides additional mounting holes and protection for the tubes. A U-shaped bracket attached to Picatinny rails holds the back thrusters and can be adjusted to accommodate changes in MeCO's center of gravity. All gold parts are machined from aluminum and anodized to prevent corrosion.
- Material: Aluminum (gold anodized for corrosion resistance)
- Clamps:
- 4" Tube Clamps: Blue Robotics anodized aluminum clamps
- 6" Tube Clamp: Custom-designed clamp that attaches to the 4" clamps
- Struts:
- Top and Bottom Struts: Connect the two sets of clamps, providing mounting holes
- Bottom Strut: Provides additional mounting holes and protection for the tubes
- Back Thruster Mounting:
- U-shaped bracket attached to Picatinny rails
- Adjustable position along the rails to accommodate changes in the center of gravity
 |
 |
 |
 |
 |
|---|---|---|---|---|
| Front | Side | Rear | Top | Bottom |
MeCO's thruster configuration consists of 5 thrusters strategically placed to control the vehicle's movement in all 6 degrees of freedom. Two thrusters control surge and yaw, one thruster controls pitch, and two angled thrusters control heave, sway, and roll. The surge thrusters are aligned with the center of mass to minimize undesired pitch rotation and can be adjusted vertically using Picatinny rails to accommodate changes in the robot's center of mass due to external payloads. MeCO takes advantage of the laws of buoyancy to perform a sway-like motion by slightly rolling, with the forces of buoyancy and gravity resisting a full roll motion and resulting in a sideways movement.
- Number of thrusters: 5
- 2 thrusters for surge and yaw control
- 1 thruster for pitch control
- 2 angled thrusters for heave, sway, and roll control
 |
 |
 |
|---|---|---|
| Front | Side | Top |
MeCO's final design features a large 6.5" diameter central tube and two 4.5" side tubes arranged in a triangular configuration, providing 96% more internal volume compared to LoCO. The 6.5" tube accommodates a Jetson Orin and a preconfigured stereo camera, while the 4.5" tubes hold the batteries and allow for quick access. The triangular arrangement was chosen to enable a quad-camera system with wide and narrow baseline stereo vision, although the side tube cameras are not yet installed. The vehicle is equipped with 5 thrusters to provide 6 degrees of freedom.
- Diameter: 6.5"
- Material: Clear Cast Acrylic
- Length: 300 mm
 |
|---|
| Main Tube |
- Diameter: 4.5"
- Material: Clear Cast Acrylic
- Length: 300 mm
 |
|---|
| Side Tubes |