BUILD AN

UNDERWATER
ROV AT HOME
Learn how to build, wire, and set up

a submersible robot from home.

ROV = REMOTELY OPERATED

VEHICLE
Please make sure to get a parent's or guardian's help,

and always use proper safety gear!

 Follow along with us

Follow us @SmithsonianSMS for lots of

This packet is other fun and educational content!

designed to
accompany our
full-length
instructional
video that you
can watch on
YouTube.
Smithsonian
Marine Station Fort Pierce
 • 1A PVC cutter, or

•
Tools you will need: saw
IB

• 2A 15 mm combination wrench, or

• 2B 6- inch adjustable wrench

• 3 3/ 8- inch combination wrench

• 4 hot melt glue gun

• 5 micro -screwdriver set , slot and Phillips

• 6 #2 Phillips head screwdriver

• 7 #1 Phillips head screwdriver

• 8 3/ 16 -inch slot head screwdriver

• 9 SAE / metric ruler

• 10 long nose pliers

• 11 diagonal cutters

• 12 wire strippers

• 13A groove joint pliers, or

• 13B slip joint pliers

• 14A heat gun, or

• 14B grill lighter

• 15 power drill

• 16 drill bits (1 / 16, 1/ 4, 5 / 16, 3/8, 1/ 2 inch )

• 17 1 / 16 -inch hex key ( “ Allen wrench ” )

Please always ask for a parent or • 18 ( not pictured ) rubber mallet

guardians help when handling • 19 ( not pictured ) safety glasses

power tools or sharp tools. Smithsonian

Marine Station Fort Pierce
 Note: Most hardware stores carry Schedule 40 PVC pipe. However, some

To build the frame carry a thinner walled PVC pipe, usually referred to as “ thin wall.” If possible,
get the thinner wall PVC pipe for this project. It will make the ROV weigh less
and may allow easier maneuvering. However, Schedule 40 will also make a
satisfactory ROV. The fittings generally come in only one thickness. Lowes,
Home Depot, or your local hardware store will carry these PVC pipes and
fittings.

List of materials to build the ROV frame:

1. 4 inches of % ” PVC pipe ( preferable “ thin wall” )

( you may have to buy a 10-foot length )
You will need to cut 2 pieces, 5cm long.
2. 20 feet of 1 / 2” PVC pipe ( preferably “ thin wall ” )
You will need to cut 2 pieces 20cm long, 2 pieces 15cm long, 2 pieces
12 cm long, 8 pieces 10cm long, 3 pieces 7cm long, 4 pieces 4cm
long, and 7 pieces 3cm long.
3.10 each- 1/ 2- inch 90-degree elbows, socket by socket (smooth inside the
ends for sliding- in pipe, NOT THREADED ).
4. 2 each- 1/ 2- inch crosses, all ends socket
5. 2 each- 3/ 4- inch caps, socket
6. 3 each- 1 1/ 4 inch by 1 / 2- inch tee, socket by socket ( This means that the
two ends 180 degrees apart that will accept 1 1/ 4- inch PVC pipe, and
the middle of the tee will accept a 1/ 2- inch pipe. In the picture you
can see that this fitting will eventually get cut to form the piece to
the left )
7.1 each- 3/ 4- inch x 1/ 2- inch tee, socket by socket. ( This means that the 2
ends 180 degrees apart that will accept 3/ 4- inch PVC pipe, and the
middle of the tee will accept a 1/ 2- inch pipe.
Please always ask for a parent or 8. 1 each- 3/ 4- inch x 1 / 2- inch tee, socket by socket. ( This means that there
are 2 ends 180 degrees apart that will accept 3/ 4- inch PVC pipe, and
guardians help when cutting the the middle of the tee will accept a 1/ 2- inch pipe)
9.1 each - pool noodle, about 2 1/ 4- inch diameter
PVC and make sure to wear 10.1 box of 50- #6 by 3/8- inch stainless steel pan head tapping screws

safety goggles! Smithsonian

Marine Station Fort Pierce
 To wire the electrical
List of materials to wire the electrical for the
control box and motors:

1. Battery clamps
2. Fuse holder
3. 15- amp fuse
4. 25 feet of 18- gauge, 6 conductor, stranded
tether wire
5. 12 feet of 16-gauge, 2 conductor, duplex wire
6. 3 each, Johnson Pump 500 GPH bilge pump
cartridges
7. 10 pack butt splices 22-18 heat shrink
8. 3 each, DPDT momentary-off- momentary
switch, screw terminal
9. 3 feet twisted bell wire 20 gauge
10. 30 pack of standard wire connectors ( “wire
nuts” ) , need 6 blue and 2 yellow
11. Terminal strip, 22-10- gauge, 8 position
12. Cable ties, 1/ 4-inch x 8 inch long
Please always ask for a parent or guardians 13. 3 pack of propellers and shaft adapters
help when working with electrical circuits. 14. 6-inch X 6- inch compartment box
ALWAYS make sure power is off and that
you are wearing shoes! Smithsonian
Marine Station Fort Pierce
A finished ROV

Smithsonian
Marine Station Fort Pierce
A finished ROV

Smithsonian
Marine Station Fort Pierce
 Cost of parts:
Electrical and Wiring
Vendor Description Cost Quantity Extended Comments

1 Hardware Store butt splices, 22-18 gauge, heat shrink, pack of 10 4.31 1 $4.31 pink
2 Hardware Store 8 inch cable ties, pack of 20 2.85 2 5.70
3 Hardware Store battery clamps, 1 set, black and red 3.54 1 3.54
4 Hardware Store terminal strip, 22-10 gauge, 8 position 6.29 1 6.29
5 Hardware Store Husky 6 inch x 6 inch compartment box, clear 5.97 1 5.97

6 Hardware Store standard wire connectors ("wire nuts") 30 pack 2.71 1 2.71
7 Hardware Store twisted bell wire, 20 gauge, foot long 0.24 3 0.72
https:// www.mpja.com / DPDT-
Momentarv-Off- Momentarv-
Toggle-
8 Marlin P. Jones DPDT switch ( mom. -off- mom.) , screw terminal 1.95 3 5.85 Switch / productinfo / 16090 +SW /
https: // seamate.org/ products /seama
9 Sea MATE Store Angelfish / Pufferfish tether wire, 18/ 6, 15 feet 25.00 1 25.00 te-angelfish- pufferfish-tether- wire
Propeller kit for Angelfish ROV ( 3 propellors and https: // seamate.org/ products / 3-
10 Sea MATE Store parts) 24.00 1 24.00 seamate- pufferfish- propeller-kit
11 Amazon Johnson Bilge Pump cartridges, 500 gph 22.39 3 67.17
12 West Marine 16 / 2 duplex wire, foot long 0.79 12 9.48
13 Amazon Invincible marine fuse holder 6.67 1 6.67

14 15 amp fuse ( depends on type fuse hold bought ) 0.00

15 Lowes 2-1/ 4 x 4 feet swmming pool noodle 1.98 1 1.98
$169.39 Sum of electrical/misc. parts
 Cost of parts:
PVC and Fittings
Vendor Description Cost Quantity Extended Comments
1 Hardware Store 1/ 2 inch thin wall pipe, 10 ft 2.06 2 $4.12
2 Hardware Store 3/ 4 inch thin wall pipe, 10 ft 1.70 1 1.70
3 Hardware Store 1/ 2 inch "T", S x S x S 0.46 10 4.60
4 Hardware Store 1/ 2 inch 90° elbow, S X S 0.39 10 3.90
5 Hardware Store 1/ 2 inch cross, S X S X S X S 1.44 2 2.88
6 Hardware Store 3/ 4 inch X 1/ 2 inch "T", S X S X S 0.83 1 0.83
7 Hardware Store 3/ 4 inch cap, S 0.64 2 1.28
8 Hardware Store 1-1/4 inchx 1/ 2 inch "T", S X S X S 2.67 3 8.01
$27.32 SUM of PVC Parts

$ 196.71 Total Cost of Parts

SeaMATE offers a kit of all parts except the PVC parts for the Frame for $200 ( includes shipping)
The kit is different than the one described in this Smithsonian tutorial, but similar in function.
 Follow along instructions:

These instructions are to accompany the ROV instructional video. Please use
these abbreviated instructions to help you follow along. Keep in mind that is this
NOT an exhaustive list! Please watch the video!

1) Obtain the first 8 items in noted quantities listed in the List of Materials to Build the
ROV Frame.

2 ) Cut the V2 inch PVC pipe to the noted lengths and quantities as listed in the bold-face
font under “Number 2.” WEAR SAFETY GLASSES!

3) Assemble the PVC of the ROV as per the video starting at timestamp 0:4:31 to 0:11:51.
You will need to cut the three 1-1/ 4 x 1/ 2 x 1-1/ 4 T’s as marked by the blue tape in the
video. Using a vise to hold the T while sawing will be very helpful.

4) Assemble the “ tool post ” as shown starting at timestamp 0:11:52 to 0:13:34. A

correction to what is said in the video: a 7cm length of pipe is inserted into the T, and a
5cm length is inserted into the elbow. You will need to find something to fit inside the
end of the PVC pipe such as a cork, stopper, or dowel to install the “ hook.”

5 ) Follow the video for installing the three 500gph Johnson cartridge bilge pumps, 0:13:35
to 0:17:48. Do not use lOOOgph bilge pumps as discussed in the video. For a ROV
this size these motors are too powerful to steer using the left and right thrusters.

6) Look at the video timestamp 0:17:49 to 0:19:02 to see if your ROV looks similar to the
one in the video (except for the painted PVC fittings).

7) Running the thruster wires around and into the frame is shown in video sequence at
timestamp 0:19:03 to 0:24:12. You can also use black electrical tape instead of cable ties
to secure the wires to the frame. You may need an extra pair of hands to run the wires
into the 3/4 x 1/ 2 x 3/4 T in the back of the ROV.

1
 Follow along instructions:
8) View the video for wiring the thrusters to the tether at timestamp 0:24:13 to 0:39:24.
Please use the “ pink” butt connectors as listed in the electrical parts list ( 22-18 gauge) .
The 16- gauge thruster wires will fit into these connectors. In the video a small 1000-
watt hair drier was used to heat shrink the connectors. That did not work, so you can
use a real heat gun. If you don’t have a heat gun, you can use a butane grill lighter, but
be careful not to burn the butt connector or the wire jacket. Please have adult
supervision.

9 ) Review the video of hole placement in the control box at timestamp 0:39:25 to 0:41:45.
WEAR SAFETY GLASSES! Drill the holes carefully and without much downward
pressure on the drill. Do not drill on furniture or the kitchen table. The drill bit breaks
through the plastic very suddenly, and “grabs” the plastic. The plastic is brittle and may
crack if the drill is pushed too hard. When drilling holes greater than 14 -inch, start with
a 14 - inch bit, then widen whole with incrementally wider bits until you achieve the
wanted diameter.

10) Wiring the control box is covered in the video from timestamp 0:41:46 to 0:48:55.
Follow the dialogue.

11) When wiring the switches using bell wire, insert the loop created by using the long-
nose pliers under the terminal screw such that the loop is tightened. If the loop is
inserted in the wrong direction tightening the screw may spread the loop apart. ( Video
sequence at timestamp 0:48:56 to 0:58:25) A extra pair of hands could be helpful.
Braided wire is difficult for wiring these switches because the terminal screws are small,
and tightening the screws causes the loops to unravel, including when done in the loop
is installed in the correct direction.

12 ) The video sequence for mounting the switches in the control box is at timestamp
0:58:26 to 1:01:27. Maintain the orientation of the three switches the same. Marking the
switches with a black dot at the same end ensures that the left and right thrusters drive
forward when the switches are pressed forward, and operate in reverse when the
switches are pulled back. Also, maintaining the orientation of the switches enables
quick troubleshooting if the switches are operating in the wrong direction (Section 16) .

2
 Follow along instructions:
It is difficult mounting the switches to the control box. The nuts on the switches are
very thin, making it hard to tighten with a wrench. Once the control box is completed
you may wish to add a dab of hot glue between the switch and lid ( on the inside of the
box) to help anchor the switch.

13) Wiring the switches to the tether is easier if first using wire nuts for future testing (video
timestamp 1:01:28 to 1:09:28). It may seem difficult to keep track of all the wires and
colors, but once power is applied to the control box it takes very little effort to make
corrections. The builder in the video had crossed the right thruster wires to the left
thruster switch and vice versa, but the correction took less than 2 minutes to
accomplish. Also, the up/ down switch was wired incorrectly, but correcting took less
than a minute.

14) Using hot glue on the power cable and tether where they enter the box ensures that the
wires will not pull out of the switch terminals or out of the control box (1:09:29 to
1:14:17) . Other methods of strain relief are available, but this method has worked well
for the 10 years we at the Smithsonian Marine Station have been building these ROV’s.
However, this method may not be “legal” for MATE ROY Competitions.

15) Attach the battery clamp and fuse holder to the positive power conductor that will
attach to a 12-volt battery. ( Video sequence at timestamp 1:14:18 to 1:21:23) The fuse
should ways be on the conductor that goes to the positive terminal, and that wire is
usually red. Attach the other battery clamp to the negative ( usually black) conductor.
The wires should be soldered to the battery clamps. This was not shown in the video.
MATE ROV requires a different method for attaching the wires to a 12-volt power
source for competitions, not covered here.

16) Trouble shooting switches is covered at video timestamp 1:14:18 to 1:21:23. Here is a
relatively simple method for determining if the switch wires are wired correctly. WEAR
SAFETY GOGGLES WHEN WORKING ON ENERGIZED CIRCUITS. ALWAYS
DISCONNECT THE BATTERY CLAMPS WHEN THE CONTROL BOX IS OPEN TO
WORK ON SWITCHES. THE PROPELLERS ARE VERY SHARP.

3
 Follow along instructions:
As viewed from behind the ROV and looking toward the front, and with the control box
in front of you with tether and power cords exiting the box toward the ROV, pushing the
right switch forward should make the right thruster propeller rotate clockwise. Pushing
the left switch forward the left thruster propeller should also rotate clockwise. If one or
the other ( but not both ) are operating counter clockwise, disconnect the battery from the
power cord, open the control box, and find the two wires from the errant switch that are
connected to the tether, loosen the two wire nuts from the switch to the tether, and
change the wires from the switch to the other wire nut . Then close the control box, re-
clamp the power cable to the battery, and see that pushing either switch forward will
make the appropriate thruster operate clockwise. If the right switch makes the left
thruster operate ( and vice versa ) , switch the wires from the front of the left switch to the
tether wires of the right switch, and change the tether wires attached to the front right
switch to that of the left switch. Close the control box, attach the power chord to the
battery, and see if the left switch pushed forward operates the
left thruster clockwise and the right switch operates the right thruster clockwise. As
viewed from above, pushing the up/ down switch forward should make the propeller
operate clockwise ( which will make the ROV “dive” ), and pulling the switch back make
the propeller operate counterclockwise ( ROV will rise to the surface) . If not, change the
wires at the front of the switch at the tether wire nuts. Some pilots prefer the switch for
up and down to operate opposite, such as pushing the switch to make the ROV rise and
pulling back to make the ROV dive, similar to raising and lowering the electric windows
of a car.

17) Cable strain relief is covered in the video at timestamp 1:21:24 tol:23:15. In short, use
cable ties and hot glue so that the tether wire or power cord will not become
disconnected from the ROV or the control box.

18) I forgot to mention about making the ROV neutrally buoyant , or just slightly negative
( sinks slowly). Once your ROV is finished, drill 14 - inch holes in the PVC elbows in all
the top and bottom corners of the frame of the ROV. This will make the ROV quite
negatively buoyant. Cut two 15 cm lengths of 2 14 -inch diameter foam pool noodle and
slit them lengthwise on just one side of the center hollow tube. The slit should fit over
the 20cm piece of PVC pipe at the top, left and right sides, and toward the back of the
ROV. Place the ROV into a pool, with out applying power to the ROV, and the ROV
should float. Removing the ROV from the water, trim a few centimeters equally from

4
 Follow along instructions:
both the left and right floats, and install the foam noodle pieces again. Continue
trimming the floats ( left and right equally) until the ROV just sinks without power.
This is typically the optimum buoyancy. If the front of the ROV sinks faster or lower
than the back, two pieces of noodle can be slit and added to both sides of the top 10 cm
long pipes on either side of the cross fitting. Then trim both foam floats equally until
the ROV sits level and sinks ever so slowly. The ROV should be well trimmed and
operate well.

19) HAVE FUN! Experiment with the design of the PVC frame to make it better.