Magnetic design and analysis of a radial reconfigurable magnetic coupling thruster for vectorial AUV propulsion

Abstract

This paper deals with the improvement of autonomous underwater robot propulsion systems. These need upgrades to enhance robots capabilities demanded by complex tasks, such as marine current turbine maintenance. We propose a Radial design for the concept of Reconfigurable Magnetic Coupling Thruster (R-RMCT). This design is based on the usage of a radial magnetic coupling as the core of a magnetic joint. Design parameters of a feasible R-RMCT are explored to meet project requirements with minimizing the magnets volume. In this context, the magnetic coupling is modeled by a magnetostatic approach, using a finite volume integral method. The numerical model is implemented using the free 3D RADIA tool together with the Wolfram Mathematica™ language. Following this, a feasible design is therefore achieved, evaluated, and analyzed.