Mechanical concept

We developed a cylindrical shaped submarine as our final design because of its simplicity to make watertight. Also, this design contains only a few parts, which makes it easier to optimize and assemble. Most of the mechanical structure parts are ANSI aluminum standards. Therefore, the purchase of these parts was simple and relatively cheap. The main case is built of 6061-T6 aluminum and the front case is made of Plexiglas. The frame that supports the two cases and the thrusts consist of four T-Slotted aluminum framing. Angler measure 33” long (838 mm), 22” wide (559 mm) and 14” high (356 mm) and weighs 50 pounds (23 kilograms).

Figure 1 - Angler I

1.1 Computer assisted design

To ensure a better understanding of the many concepts developed during the project, we chose to work with SolidWorks Student Kit 2007. This software helped us during the conception and the machining phases. We have been able to get an estimation of its weight and center of mass to fix its pitch and roll in equilibrium.

1.2 Main case

This cylinder was built of aluminum for many reasons. The lightweight, the low corrosive properties and its machinability are amongst its most important characteristics for our project. It is designed with a cylinder of 8” in diameter and a length of 10”. At both ends, disk shaped caps are grooved twice to fit standard o-rings. Many NPT (National Pipe Thread) holes were tapped in order to fit our standard steel couplings.

Figure 2 - Main case exploded view

The solution adapted to link the outside to the inside of the submarine was chosen basically due to the low cost. We used standard NPT steel couplings with plastic hoses, filled with special underwater silicone, and choked at both ends with stainless hose clamps.

1.3. Front case

The front case cylinder is used for the vision system which explains why we used acrylic as material. We used the same principal for the end caps as we did on the main case. Once again, the same types of connectors are used to connect with the exterior of the submarine. The front cap of the submarine contains an acrylic lens to allow the front vision used in many missions. On the same cap, we installed the hydrophone's holder. The back cap is also used to support the markers launching system.

1.4.Frame

Four T-Slotted aluminum frames are used to support the two cases and the thrust system. These supports allow an easy-to-use fixture with 8mm t-shaped nuts. All of the four thrust supports are built and welded in aluminum T-shaped profiles. These types of supports fixed directly onto the main frame can be easily moved to adjust the pitch and the ease to accomplish short turns.

Figure 4 - Aluminum T-Slotted profile frame with thrusts holders