US Patent 11559905 Subsea manipulator

A subsea manipulator for a remotely operated underwater vehicle (ROV) that includes at least one linear, oil-filled electric actuator to control a motion of the manipulator in a subsea environment is disclosed. The remotely operated underwater manipulator includes an electric actuator for each axis of motion of the manipulator, and an end effector that includes a rotational joint and a tool motor for controlling a tool affixed to the end effector. A method for changing the tool of the manipulator in a subsea environment is disclosed.