Reconfigurable magnetic-coupling thrusters for agile AUVs

This paper describes the theory and experiments of a new technology for propelled thrusters. The principle is to extend the potentialities of magnetic-coupling motor shafts by adding degrees of freedom in their kinematics. The idea is to redirect the propeller and therefore, the thrust to another direction without adding or moving any motors. The focus of this work is to understand how does behave the transmitted coupling torque with regard to the new kinematics of the propeller shaft. After introducing the theory underlying this thruster technology, we bring numerical and experimental results for a laboratory set up, then for an existing and reconfigured thruster. The feasibility of this technique is then discussed based on potential integration and developments on real AUVs. The conclusion marks these results as an interesting step to achieve full 3D smooth control on a short-term basis.