This is the rear of the SeaBot ROV.
You can see how the motor leads have been brought to this point, and connected to the terher wires. Self-sealing heat shrink was used to prevent water intrusion. The more solid heat-shrink areas were tie-wraped to the ROV frame.
Looking forward, you can see the two "axial" thrusters. These are canted out slightly to provide better water flow, and enhanced turning.
The motors are attached to the 1/2" PVC frame by carving an openning in the PVC that matches the fins on the rear of the motors. The motors fit snugly into the PVC and are then tie-wrapped in place.
Only three vertical frame members have been used in order to minimize any obstructions to the water flow.
The ROV is balenced to be slightly bouyant, so when it's near the bottom it does not have to thrust up to move. This prevents the mud on the bottom from being stired up.
