Multi-actuated AUV body for windfarm inspection: lessons from the bio-inspired RoboFish field trials

An innovative magnetic joint design has been developed as part of the construction of a bio-inspired Autonomous Underwater Vehicle (AUV) for wind farm inspection. This paper presents our design solutions for a jointed watertight AUV body made using current 3D printing techniques to achieves water tightness and resilient composite metal-polymer bonding.The design avoids dynamic interfaces and the need for rotary seals yet achieves robustness and strength. Test results prove a successful implementation of the magnetic connection between a freely rotating inner shaft and a driven outer shaft in a fish-like jointed AUV body.