Mini-AUV Mechanical Structure

Mini-AUV

The Mini-AUV was designed with mobility and agility at its core to specifically target movement-focused tasks. Prioritising a compact and lightweight form factor, it measures 0.6 m by 0.4 m by 0.4 m and weighs around 10kg, making it well-suited for easy deployment and robust movement.

Structural Design

Its structure centres around an acrylic tube serving as the main pressure hull, sealed at both ends with identical aluminium flanges. These flanges also feature top-mounted points to accommodate possible future additions, such as a secondary battery hull. Attached to the sides are two precision-cut aluminium frames that hold eight thrusters, enabling six degrees of freedom and allowing the vehicle to execute advanced maneuvers like barrel rolls.

Structural Design

Connectors

Connectors

Blue Robotics WetLink Penetrators were chosen to preserve cable lengths and facilitate component swapping in the event of any damage. For more critical connections such as Ethernet, we opted for MacArtney connectors, known for their reliability and ease of use.

Software System

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Electrical Architecture

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