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

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.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2014

Author dc:creator

• Church, Joseph Christopher

Advisor dc:contributor.advisor

• David L. Trumper.

• Electrical Engineering and Computer Science.

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/1721.1/91445

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/91445