Design and development of modular magnetic bio-inspired autonomous underwater robot – MMBAUV

This paper describes the design and construction of a magnetically coupled modular bio-inspired underwater robot named Modular Magnetic Bio-Inspired Underwater Vehicle (MMBAUV). Designed to form traveling wave mimic efficient Body Caudal Fin (BCF) swimming manoeuvring, its modularity allows for flexible system setup offers an opportunity redundancy cost reduction through common structure. The specific feature this presents novel application permanent synchronous magnetic coupling between neighbouring modules with rotational degree freedom (DoF). actuated provides reliable low maintenance solution fundamental issues water tightness structures. When encountering extreme conditions, safe decoupling increasing survivability robotic system. Presented lab testing results demonstrate function provide initial evidence thrust generation manoeuvrability.