Mechanical subsystems integration and structural analysis for the autonomous underwater explorer

Jose Villa; Arttu Heininen; Soheil Zavari; Tuomas Salomaa; Olli Usenius; Jouko Laitinen; Jussi Aaltonen; Kari T. Koskinen

IROS 2018poster5 citations

Mechanical subsystems integration and structural analysis for the autonomous underwater explorer

Jose Villa, Arttu Heininen, Soheil Zavari, Tuomas Salomaa, Olli Usenius, Jouko Laitinen, Jussi Aaltonen, Kari T. Koskinen

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Abstract

The aim of this study is to analyse the modular mechanical design and integration of all three low-level modules in UX-1 (pendulum, ballast system and propulsion unit). The components of the perception and navigation systems have position and orientation requirements that dictate the shape of the hull. A structural strength analysis using Finite Element method (FEM) was made to study the hull strength during deep dives. The results are presented here, which indicates that the hull endures pressures related to deep dives. Also for validation, strain gauge locations were defined.

BibTeX

@inproceedings{iros2018_mechanicalsubsys,
  title = {Mechanical subsystems integration and structural analysis for the autonomous underwater explorer},
  author = {Jose Villa and Arttu Heininen and Soheil Zavari and Tuomas Salomaa and Olli Usenius and Jouko Laitinen and Jussi Aaltonen and Kari T. Koskinen},
  booktitle = {IROS 2018},
  year = {2018}
}