For detailed assembly instructions see Remotion drawing nr.: 123493 

The Achilles Drive unit is a subsea servo motor equipped with a spring applied servo brake and a wave strain reduction gear. Through its subsea connector is connected to the control box of the Achilles robot. There are 4 identical drive units on the robot, driving each wheel through a chain drive. The Drive Unit is built for subsea usage with the depth rating of 20m. 

A wireframe of a machine  Description automatically generated 

Fig.: 4 Drive units are mounted onto the Achilles Robot 

A black wheel with a green line  Description automatically generated 

Fig.: The Drive unit is directly connected to the wheel by a chain drive. 

The Drive Unit consists of the following 3 of main modules. 

  1. Gear & Bearing Assembly (Drw. Nr.:123337) : The module consists of a bearing housing, output shaft, simmering seal, ball bearings and the flexi spline of the strain wave gear set. 
  1. Center Assembly(Drw. Nr.:123488): The module consists of a housing, subsea connector, wiring harness, water sensor cables, support bearing and the wave generator of the strain wave gear set. 
  1. Motor & Brake Assembly(Drw. Nr.:123490): The module consists of a servo motor, a spring applied brake and a mounting flange. 


The unit`s rear part is closed and sealed off with an aluminium Housing Cap, secured by a nylon filament line.