Jackson Phillips
Research Mentor: Lei Zuo
Mentor Department: Naval Architecture and Marine Engineering, Engineering
Author(s): Jackson Phillips, Ta Chih Hung
Session: Session 7 (4:00 PM – 4:50 PM)
Presentation Type: Poster 63
Abstract
Autonomous Underwater Vehicle (AUV) Docking Systems are crucial for long-term AUV deployments and reducing the need for human intervention and vessel recovery. The best designs incorporate passive capture, precise alignment, and minimal required actuators to efficiently recover AUVs, charge batteries, and transmit data. Current designs are typically compatible with specific size and shape of AUVs and require continuous power during docking. We propose a novel hydraulic-driven, dual Hoberman-based radial clamping mechanism designed to precisely align AUVs with varying diameters and lengths for wireless charging. Conceptual mechanical trade studies and detailed CAD assembly modeling were conducted in SolidWorks to evaluate a variety of architectures, kinematic behavior, and integration of passive alignment features with hydraulic cylinders. Early-stage design results indicate that the dual-clamp configuration provides passive axial alignment upon contact with a hard stop while allowing large radial compliance during vehicle approach, followed by rigid mechanical retention once actuated. The Hoberman-based clamps accommodate significant variations in AUV diameter and length while maintaining a fixed docking reference for wireless charging receiver alignment. The hydraulic actuation minimizes power consumption during extended docked periods and allows for a normally open failsafe. This design has the potential to improve docking robustness, extend mission duration, and support sustainable offshore operations through reliable long-term AUV deployment.
