The characterisation of magnetic couplings and the development of a thruster module for an ROV

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dc.contributor.advisorNurick, Gerald Nen_ZA
dc.contributor.advisorBooysen, Tracyen_ZA
dc.contributor.authorHope, Timothy Patricken_ZA
dc.date.accessioned2016-06-21T09:23:25Z
dc.date.available2016-06-21T09:23:25Z
dc.date.issued2015en_ZA
dc.description.abstractThis dissertation focuses on the development of thruster modules and the characterisation of magnetic couplings for a Remotely Operated Underwater Vehicle (ROV). The dissertation begins with an introduction to the Seahog ROV developed at the University of Cape Town's Robotics and Agents Research Laboratory (RARL). The history, relevance and features of commercial ROVs are discussed in chapter two to introduce the reader to this form of underwater robotics. After this the dissertation is divided into two separate sections. The first section, chapters three to eight, detail the mechanical and electrical modifications made to an existing, magnetically coupled, thruster module design. The objective of this section was to improve the thruster module in order to achieve performances that are similar to commercially available thrusters. The modifications included changes to the drivetrain, the design of new electronics and motor drivers and a reduction in weight of the module's housing. A fundamental analysis of the thruster module is presented, no Computational Fluid Dynamics (CFD) is provided as the propeller and kort-nozzle designs remained unchanged. Even though the improvements produced a reliable and efficient thruster module a greater understanding of magnetic couplings was required to produce a design that was as lightweight as commercial modules. Therefore the second section of this dissertation, chapters nine to twelve, implement and validate an analytical model to calculate the torque and slip characteristics of magnetic couplings. The dissertation is concluded in chapter thirteen with recommendations that incorporate the knowledge gained in magnetic coupling design with the modifications made to the thruster module to produce a thruster design that is both efficient and light.en_ZA
dc.identifier.apacitationHope, T. P. (2015). <i>The characterisation of magnetic couplings and the development of a thruster module for an ROV</i>. (Thesis). University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Mechanical Engineering. Retrieved from http://hdl.handle.net/11427/20055en_ZA
dc.identifier.chicagocitationHope, Timothy Patrick. <i>"The characterisation of magnetic couplings and the development of a thruster module for an ROV."</i> Thesis., University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Mechanical Engineering, 2015. http://hdl.handle.net/11427/20055en_ZA
dc.identifier.citationHope, T. 2015. The characterisation of magnetic couplings and the development of a thruster module for an ROV. University of Cape Town.en_ZA
dc.identifier.ris TY - Thesis / Dissertation AU - Hope, Timothy Patrick AB - This dissertation focuses on the development of thruster modules and the characterisation of magnetic couplings for a Remotely Operated Underwater Vehicle (ROV). The dissertation begins with an introduction to the Seahog ROV developed at the University of Cape Town's Robotics and Agents Research Laboratory (RARL). The history, relevance and features of commercial ROVs are discussed in chapter two to introduce the reader to this form of underwater robotics. After this the dissertation is divided into two separate sections. The first section, chapters three to eight, detail the mechanical and electrical modifications made to an existing, magnetically coupled, thruster module design. The objective of this section was to improve the thruster module in order to achieve performances that are similar to commercially available thrusters. The modifications included changes to the drivetrain, the design of new electronics and motor drivers and a reduction in weight of the module's housing. A fundamental analysis of the thruster module is presented, no Computational Fluid Dynamics (CFD) is provided as the propeller and kort-nozzle designs remained unchanged. Even though the improvements produced a reliable and efficient thruster module a greater understanding of magnetic couplings was required to produce a design that was as lightweight as commercial modules. Therefore the second section of this dissertation, chapters nine to twelve, implement and validate an analytical model to calculate the torque and slip characteristics of magnetic couplings. The dissertation is concluded in chapter thirteen with recommendations that incorporate the knowledge gained in magnetic coupling design with the modifications made to the thruster module to produce a thruster design that is both efficient and light. DA - 2015 DB - OpenUCT DP - University of Cape Town LK - https://open.uct.ac.za PB - University of Cape Town PY - 2015 T1 - The characterisation of magnetic couplings and the development of a thruster module for an ROV TI - The characterisation of magnetic couplings and the development of a thruster module for an ROV UR - http://hdl.handle.net/11427/20055 ER - en_ZA
dc.identifier.urihttp://hdl.handle.net/11427/20055
dc.identifier.vancouvercitationHope TP. The characterisation of magnetic couplings and the development of a thruster module for an ROV. [Thesis]. University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Mechanical Engineering, 2015 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/20055en_ZA
dc.language.isoengen_ZA
dc.publisher.departmentDepartment of Mechanical Engineeringen_ZA
dc.publisher.facultyFaculty of Engineering and the Built Environment
dc.publisher.institutionUniversity of Cape Town
dc.subject.otherMechanical Engineeringen_ZA
dc.titleThe characterisation of magnetic couplings and the development of a thruster module for an ROVen_ZA
dc.typeMaster Thesis
dc.type.qualificationlevelMasters
dc.type.qualificationnameMSc (Eng)en_ZA
uct.type.filetypeText
uct.type.filetypeImage
uct.type.publicationResearchen_ZA
uct.type.resourceThesisen_ZA
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