TITAN 4 Manipulator
Seven-Function Servo-Hydraulic ROV Manipulator
Description
The TITAN 4 is a seven-function, position-controlled servo-hydraulic remote manipulator for subsea use, and is used extensively on heavy work class ROVs. It has a reach of 1,922 mm, lifts 122 kg at full extension and has a nominal maximum lift of 454 kg.
The arm is built primarily of titanium. The standard depth rating is 4,000 msw, and an extended-depth version is rated to 7,000 msw. It weighs 100 kg in air and 78 kg in water. The standard gripper opens 99 mm with a nominal grip force of 4,092 N, and the wrist delivers 170 Nm nominal torque with continuous rotation at 6–35 rpm.
A SeaNet cable connects the arm to electrical power and telemetry. The 8.9 mm cable is pressure balanced and oil filled, with spring-loaded contacts and a positive locking feature. All downside electronics sit inside the forearm, and LED lights in the connector head show power, controller transmission and arm response for first-level diagnostics.
The arm runs on mineral, glycol or synthetic hydraulic fluid at up to 3,000 psi, with an available flow of 5.7–19 lpm. The master controller measures 470 × 177 × 67 mm, weighs 3.7 kg and runs on 90–260 VAC, and telemetry is RS232 or RS422/485.