Wright, Marvin, Xiao, Qing, Dai, Saishuai et al. (3 more authors) (2023) Design and Development of Modular Magnetic BioInspired Autonomous Underwater Robot – MMBAUV. Ocean Engineering. 113968. ISSN 0029-8018
Abstract
This paper describes the design and construction of a magnetically coupled modular bio-inspired underwater robot named the Modular Magnetic Bio-Inspired Underwater Vehicle (MMBAUV). Designed to form a traveling wave to mimic efficient Body Caudal Fin (BCF) swimming and manoeuvring, its modularity allows for flexible system setup and offers an opportunity for redundancy and cost reduction through a common design structure. The specific feature of this design presents a novel application of a permanent synchronous magnetic coupling between neighbouring modules with a rotational degree of freedom (DoF). The actuated magnetic coupling provides a reliable and low maintenance solution to the fundamental issues of water tightness of flexible underwater structures. When encountering extreme conditions, the magnetic coupling allows the safe decoupling of the modules increasing the survivability of the robotic system. Presented lab testing results demonstrate the function of the design and provide initial evidence of its thrust generation and manoeuvrability.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2023 The Authors |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Electronic Engineering (York) |
Depositing User: | Pure (York) |
Date Deposited: | 15 Feb 2023 11:30 |
Last Modified: | 29 Oct 2024 01:07 |
Published Version: | https://doi.org/10.1016/j.oceaneng.2023.113968 |
Status: | Published |
Refereed: | Yes |
Identification Number: | 10.1016/j.oceaneng.2023.113968 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:196420 |
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Filename: 1_s2.0_S0029801823003529_main.pdf
Description: Design and development of modular magnetic bio-inspired autonomous underwater robot – MMBAUV
Licence: CC-BY 2.5