Modular Lorentz force actuators for efficient biomimetic propulsion of Autonomous Underwater Vehicles

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.