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AUV Hull
Material
:
Aluminium 6082-T6
Density
:
2700
kg/m3
Weight
of Dry Hull:
18.24 Kgs
The
main hull was machined from an aluminium cylinder
which has two removable O-ring-fitted end caps.
It consisted of three chambers namely for : 1)
Batteries, on board computer , Inertial Measurement
Unit with rate gyro (IMU), 2) Downward looking
Doppler Velocity Log (DVL), and 3) Shaft seals
integrated with digital servo motors that are
used for the deflection of the control surfaces,
radio connection link, GPS boards and a pressure
sensor for depth with electronics.
Shaft seal integrated with actuator
The shaft seal is required to connect the shaft
of the internal actuator motor to the external
control planes. The seal is built around the shaft
and its function is to stop seawater entry, and
to enable the rotation of the shaft by the actuator
at pressures up to a maximum of 20 bars. Three
similarshaft seals have been designed, fabricated,
tested and mounted on the hull at the location
of the two stern planes and one rudder. The integrated
module with shaft seal, coupler, and digital micro
actuator is shown in the 3-D form.
Foil parameter
 
Design of Nose & Rear Cones
The nose cone and rear fairing of the AUV were
made from FRP (Fibre Reinforced Plastic) at a
local facility in Goa – Kineco Pvt Ltd, Pilerne
Industrial Estate. The nose cone can be mounted
to the front end plate of the Core Pressure Unit.
The rear fairing consists of two symmetrical halves
that cover the stainless steel framework on which
the DC thruster is mounted. Future cones will
be identical and machined from Delrin – a
lightweight low-density polyethylene with very
low water absorption characteristics. The drawings
of the FRP Nose Cone and the Delrin Rear Cone
are placed in the following pages.
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