Design study of flapping foil propulsion for an Odyssey Class autonomous underwater vehicle
Name
52949503-MIT.pdf
Description
Full printable version
Size
16.69 MB
Format
Adobe PDF
Checksum (MD5)
14815559630cc77c464d4a633eef94a7
Author(s)
Mandujano, Rafael A. (Rafael Alan), 1980-
Advisor(s)
Chryssostomos Chryssostomidis.
Alternative Title
Design study of flapping foil propulsion for an Odyssey Class AUV
Date Issued
2002
Publisher
Massachusetts Institute of Technology
Abstract
A design study was conducted to examine the feasibility of implementing fish-like flapping foil propulsion on an Odyssey Class autonomous underwater vehicle (AUV). Theoretically, fish-like propulsion offers higher efficiencies, greater maneuverability, and the potential for faster accelerations than the conventional propulsion system currently in use on the Odyssey Class AUV. Previous laboratory research has shown promising results, and retrofitting an Odyssey Class AUV with a flapping foil is a cost-effective way to step up the learning curve toward applying this technology in a field setting. Based primarily on MIT's RoboTuna research on the swimming motions of fish, the proposed design hopes to achieve a speed of 1.5 m/s. Oscillating two tail links independently at a tail flapping frequency of about 1 Hz should provide this performance. The links are driven with DC brushless motor systems through a Scotch yoke linkage and a linear actuator. Pitch and roll motion is accomplished with the addition of servo actuated pectoral fins, while dorsal and anal fins provide additional directional stability. A variety of motion schemes were contemplated, but the final design was chosen with an emphasis on simplicity, practicality, and robustness for use in a field setting.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2002.
Includes bibliographical references (leaves 56-57).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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