A Validated Feasibility Prototype for AUV Reconfigurable Magnetic Coupling Thruster

This paper presents the concept and design of a new reconfigurable magnetic-coupling thruster (RMCT). Mechanical models, as well as digital and real-world experiments, are proposed to understand the fundamental aspects of such technology. The principle of RMCT is to reorient the propeller, and therefore the thrust vector, to the desired direction without adding or moving any motors. The focus of this study is to propose a new design to solve the problems raised in a previous work on RMCT and to understand how the transmitted coupling torque behaves with regard to the new kinematics of the propeller shaft. After introducing the models underlying this thruster design, we build a numerical simulation and validate it through experimental results. The performance of this design is then discussed based on open-loop trials and its potential integration and control. The conclusion proposes guidelines for developing an underwater prototype that will be designed and tested on real autonomous underwater vehicles.