Multi-actuated AUV body for windfarm inspection: lessons from the bio-inspired RoboFish field trials

Marvin Wright, Weal Gorma, Yang Luo, Mark Post, Qing Xiao, Andrew Durrant

Research output: Contribution to conferencePaper

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Abstract

An innovative magnetic joint design has been developed as part of the construction of a bio-inspired Autonomous Underwater Vehicle (AUV) for wind farm inspection. This paper presents our design solutions for a jointed watertight AUV body made using current 3D printing techniques to achieves water tightness and resilient composite metal-polymer bonding.The design avoids dynamic interfaces and the need for rotary seals yet achieves robustness and strength. Test results prove a successful implementation of the magnetic connection between a freely rotating inner shaft and a driven outer shaft in a fish-like jointed AUV body.

Original languageEnglish
Number of pages6
Publication statusPublished - 2 Oct 2020
Event2020 IEEE OES Autonomous Underwater Vehicle Symposium - St. John's, Canada
Duration: 30 Sep 20202 Oct 2020
http://auv2020.org/

Conference

Conference2020 IEEE OES Autonomous Underwater Vehicle Symposium
CountryCanada
CitySt. John's
Period30/09/202/10/20
Internet address

Keywords

  • robotic fish
  • autonomous underwater vehicle (AUV)
  • 3d printing

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