Human Powered Submarine
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Introduction
The submarine’s general characteristics
The hull
Propulsion system
Fins
Propeller
Security system
Direction system
Conclusion
Questions??
Introduction
• The team
• Previous speed records
Submarines
Category
Year
Speed(knots)
Omer4
One person, propeller
2001
7.192
Omer5
Two person, propeller
2007
8.035
Omer6
One person, non-propeller
2007
4.916
Omer7
Two persons, non-propeller
2009
5.133
• Our goal
General Characteristics
• One person, Propeller
• Modeling done with CATIA V5R19
• The hull
– Smallest in volume (105 in x 20 in x 24 in)
General Characteristics
• The propulsion system
– Similar to Omer4
– Pedaling = rotor movement
– Variable pitch added
• The direction system
– Four fins
– Fully mechanical system
General Characteristics
• The security system
– Same as Omer7
– Pneumatic system with actuators
– Dead man switch
The hull
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Constraints
Methodology
Ergonomic test
Hydrodynamic analysis
Fabrication
Results
The hull (Constraints)
• Minimum required space for pedaling
• Size of the pilot
– Dimensions of the constraints
Hip length
19 in
Foot width
16 in
Shoulder width
19 in
Total length
70 in
The hull (Modeling)
• CATIA V5R19
• NACA series 6 airfoils
• Technique
– Horizontal airfoils(shoulder and foot width)
– Vertical airfoils(hip length and minimum length)
– ellipses
The hull (Ergonomic test)
• Enough space?
• Sectional analysis
-Knee fitting
-Shoulder and tank fitting
-Pedals fitting
The hull(Hydrodynamic analysis)
• Computational Fluid Dynamics
– Floworks by Solid works 2007
– Simulates a fluid at a speed of 4m/s
– Trajectory of fluid + power of drag
• Optimal results
The hull(Fabrication)
• Resin infusion process
• Saves time and $$
The hull(Fabrication)
• Carbon fiber+ epoxy resin
• Difference: carbon/innegra fiber
• Nose window = polycarbonate(Lexan)
– Good impact resistance+ translucent
Results
• Final hull
Omer 8
Omer 7
Omer 3
Volume(m3)
0.392
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0.4
Surface area(m2)
3.997
7.712
3.656
Length(in)
105
193
107
Estimated drag(N at 4m/s)
53.7
161
76
Biggest diameter(in)
24
29.3
24.8
• NACA66020 for vertical plane,NACA63013 for
horizontal plane
Propulsion system
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Modeling
Description
Technical specifications
Variable pitch
Functionality of the variable pitch
Fabrication
Electrical system
Propulsion system(Modeling)
• CATIAV5R19
– Bearings
– Bevel gears
– Seals
– Motors
– Etc.
Propulsion system(Description)
1- Plate glued to the hull
2- Structure support
3-Top cover plate
6
4-Driveshaft tube
5-Bottom cover plate
6-Gear box
1
2
3
4
5
Propulsion system(Description)
10
1-Pedal
2-Crank set level
3-Lateral cover plate
4-Bearing housing
5-Lateral structure
6-Button bracket
7-Big bevel gear
8-gear box case
9-Button bracket bearing
10-Small bevel gear
11-Drive shaft
12-Drive shaft bearing
13-Drive shaft tube support
11
12
13
9
1
2
8
3
7
6
5
4
Propulsion system(Technical specifications)
RPM Propeller
100 RPM
RPM drive shaft
200RPM
Weight
50 kg
Height
24 in
Length
43 in
Material Used
Aluminum 6061 T6 aeronautic grad
Max Torque
150 Nm
Number of parts
20 parts
Length of pedal lever
170 mm
Bearing
SKF ball bearing
Pedal
Look patent pedal
Propulsion system(variable pitch)
• In dependent electrical system
• Holds two blades at a certain angle
1-Head cone
2-Rotor cone
3-Turning plate
4-Hub
5-Cover tube
6-Driveshaft
5
6
1
2
3
4
Propulsion system(variable pitch)
1
1-Electrical motor
2-Motor support
3-Head cone seal
4-motor bushing
11
5-Rotor cone seal
6-Propeller blade bearing
7-Battery pack
8-Bevel gears
Battery pack voltage
Motor
9-Bearing
10-Water proof connector Bevel gears
Weight
11-Electrical board
Number of parts
2
3
4
5
6
10
7
9
8
24volts
Maxon, 100 watts, 24 volts
Cobalt
100kg
25 parts
Bearing
17mm(NSK6002) ,15mm(NSK6000)
Seal
SKF CR SEALS 6mm and 17mm
Connector
Seacon Hummer 1.15 amps
Propulsion system(variable pitch)
• Angle of the blades for best acceleration
• Electrical system (pcb + code)
– Magnetic switch + direct programing
– Rpm = angle
– Reajusting
Propulsion (fabrication)
• Mostly fabricated within our facilities
• Standard bicycle parts
• Aluminium
Fins and propeller
• Polyurethane casting
• Aluminum moulds
• Fabricated on CNC at 12000 RPM (4hrs)
• Aluminum
• Clouds of points and aeronautics airfoils
Direction
• Fully mechanical
• Joystick on rails + cables
• Direction on joystick= Direction of sub
Safety system
• Pneumatic
• Dead man switch
• Same air source as pilot