Attachment mechanisms for stabilization of subsea vehicles

A method of remotely operating an underwater remotely operated vehicle (ROV), the method comprising:

• inspecting or cleaning a subsea pipeline using an inspection or cleaning tool of the ROV;
• securing the underwater ROV to the pipeline using an attachment mechanism of the ROV while inspecting or cleaning the pipeline using the inspection or cleaning tool;
• passively counteracting destabilization of the ROV by reaction forces generated during the inspection or cleaning activity using the attachment mechanism;
• preventing a plurality of linked segments of the attachment me from rotating through a certain angle using a mechanical stop between each pair of adjacent linked segments;
• the plurality of linked segments being connected in series by a pin joint disposed between each pair of adjacent linked segments;
• supporting a flexible extension wire of the attachment mechanism and connected to an extension pulley of the attachment mechanism at one end through the plurality of linked segments and above each pin joint;
• supporting a flexible retraction wire of the attachment mechanism and connected to a retraction pulley of the attachment mechanism at one end through the plurality of linked segments and below each pin joint;
• and
• locking the plurality of linked segments in place by locking the extension wire in place using a first locking mechanism of the attachment mechanism disposed at the extension wire and by locking the retraction wire in place using a second locking mechanism of the attachment mechanism disposed at the retraction wire;
• and
• curling the linked segments about and clamping the ROV to an outer surface of the pipeline by actuating the plurality of linked segments, comprising extending or retracting the extension wire and the retraction wire by rotating the extension pulley and the retraction pulley, respectively.