Design study of flapping foil propulsion for an Odyssey Class autonomous underwater vehicle

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.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2002

Author dc:creator

• Mandujano, Rafael A. (Rafael Alan), 1980-

Advisor dc:contributor.advisor

• Chryssostomos Chryssostomidis.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/46286

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/46286