Modular Lorentz force actuators for efficient biomimetic propulsion of Autonomous Underwater Vehicles
Name
893679539-MIT.pdf
Description
Full printable version
Size
6.79 MB
Format
Adobe PDF
Checksum (MD5)
c2b6c2c63ae19ca6a6ea4b7e531e4e90
Author(s)
Church, Joseph Christopher
Advisor(s)
David L. Trumper.
Date Issued
2014
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, we developed a highly scalable design for modular Lorentz force actuators for use in segmented flexible-hull undersea vehicles such as the RoboTuna being developed at Franklin W, Olin College of Engineering. The actuators were designed to directly drive tail foil sections, or vertebrae, in an oscillatory motion to provide thrust. The design process was automated to facilitate implementation in different sized vertebrae. A set of prototype actuators was manufactured and tested to evaluate the feasibility of the design. A test stand was constructed to evaluate both the static and dynamic performance of the actuators. The prototype actuators achieved the required motion and demonstrated modest performance at a variety of load levels.
Description
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2014.
6
Cataloged from PDF version of thesis.
Includes bibliographical references (page 63).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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