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BlueRov2 8 thrusters configuration

(Luis Gamez) #1

Hi guys,

Im in need of a 8 thruster configuration Br2, i need more vertical thrust and this 2 extra thrusters might help me for my needs,

My question for the community is does anybody have tested the Br2 frame with 8 thrusters, if so how is the behaviour of it? any photos might help me!

My question for the BR team is, is it possible to buy this BR2 with the 8 ESC´s preconnected ??


(Roy Petter Dyrdahl Torgersen) #2

Hi Luis, you might want to have a look at the post I just did:

You can change the BlueROV2 design to run with 8 thrusters, Ardusub is already prepared for that. You might have to do a little bit of tweaking of the settings.

(Etienne Demers) #3

As discussed in another topic. Having 4 verts configured in QGC so the ROV could maneuver like the Ocean Modules ROV would be a big improvement. Combined with a wider frame and lover center of gravity, it should be easy to add pitch and roll control so the ROV has 6 DOF.

(Kevin) #4

@luisgamez Here was the Twitter post with the 8-Thruster design that Tony built:

I’ve driven one and it works very well in Stabilize and Depth Hold modes (Manual is about the same). In addition to the heavier lifting capability, you have the ability to lock the ROV’s pitch and have it hold there. Obviously it won’t do barrel roll like the BlueROV1, but it should work to 20-30 degrees. The 8-Thruster design also works better for pulling the tether around and keeping the ROV level.

The only drawbacks are that it will eat 2 more of your penetrator holes, you may go through power a bit faster, and you will need to re-ballast for the additional weight.

(Luis Gamez) #5

Hey Kevink,

Thanks for the twitter post, So if id like to purchase one of this BR2 with this configuration I might only buy the BR2 plus 2 thrusters? If so Might the ESC come already precconected?

I was thinking about adding the payload skid with another 3" enclosure and a second battery connected in parallel. it might give me extra couple of hours.


(Kevin) #6

I haven’t built one yet (!), but it’s on my list of things I’d like to do to mine. The BlueRobotics team can correct me, but here is a list of what I think you will need:

  1. Buy 2x T-200s with the pre-installed penetrator: https://bluerobotics.com/store/thrusters/t100-t200-thrusters/t200-bluerov2-spare-r1/
  2. Buy 2x Basic ESCs (these will only have power connectors preconnected, the wires out to the thruster will be bare): https://bluerobotics.com/store/electronics/besc30-r3/

The white ESC-Thruster blocks are at their maximum capacity for wires, so you will have to directly connect the ESC wires to the thruster wires. I would recommend using bullet connectors (I think they come with the ESC packages) and solder those on to the ends. Remember to clip out the positive wires on the PWM signal wires so you don’t overload the Pixhawk servo rail.

Adding a second battery with the payload skid may actually work out really well if you need power for that many hours. A thought I had now that we have been talking about this was to attach the skid and relocate the battery tube from the ROV to the skid and add another one in parallel. There are already mounts on the side of the skid to attach the 3" cylinders. Getting the batteries down and to the sides should help with the righting moment of the whole vehicle. I have no idea if you will need to add extra buoyancy though.

(Luis Gamez) #7

hey @roy

Your SIBIU is awesome very well done.

May I know what kind of material did you use ?

Is it laser cut?