2. INTRODUCTION
• Recreational undersea exploration
• Current options:
Be a diver
Ride a sightseeing submarine
• Drawbacks of the current options
Diving: direct exposure to
dangerous marine lifes, need
certain training
Sightseeing submarine: Slow
speed, designated routes, not
welcomed by fishes
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3. OBJECTIVES
• Safe to passengers
• Design your own
adventure
• Friendly to marine life
• Quick steering
• Travels undersea in
decent speed
4. MODELING
• Cabin: seat, dashboard and windshield
• Engine: propeller, motor and nozzle
• Mechanism: connectors, segmented tail and fins
8. CONNECTOR MECHANISM:
Major Parts: Assembled
Connector• To be motorized and
programmed
• Able to mimic the
movement of a dolphin’s
tail for control of
direction
• Key part for FEA
11. FEA ANALYSIS
• Create 2D mesh
• Assign material
• Assign boundary conditions
• Apply force
12. FEA ANALYSIS: DORSAL FIN
Computer FEAAnalysis Results:
Applied Constraints and Force:
Material: Aluminum 6061 (density 2.711×10-6
kg/mm3, Young’s Modulus 6.898×107 kPa at
20 degree Celsius)
13. VERIFICATION: DORSAL FIN
F
L
1 2
Cantilever Beam Model of Top Fin
𝑓1𝑦
𝑚1
𝑓2𝑦
𝑚2
=
𝐸𝐼
𝐿
12 6𝐿 −12 6𝐿
6𝐿 4𝐿2
−6𝐿 2𝐿2
−12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2
𝑑1𝑦
𝜑1
𝑑2𝑦
𝜑2
Computer FEA
Results
Verification
Results
0.171mm 0.174 mm
14. FEA ANALYSIS: UNIVERSAL JOINT
YOKE Computer FEAAnalysis Results:
Material: Steel (density 7.829×10-6 kg/mm3,
Young’s Modulus 2.0694×108 kPa at 20
degree Celsius)
Fixed
on this
face
2500 N
2500 N
Mesh Element Size=10
mm
15. VERIFICATION: UNIVERSAL JOINT
YOKE
Spring Element Simplification of the Joint Yoke
1 1 1 1
1 1 2 2
2 2 2 2
0
0
F K K d
F K K K K d
F K K d
AE
K
L
Computer FEA
Results
Verification
Results
4.265×10-4 mm 1.513×10-4 mm
16. FEA ANALYSIS: UNIVERSAL
JOINT
Computer FEAAnalysis Results:Material: Alumnum 6061 (density 2.711×10-6
kg/mm3, Young’s Modulus 6.898×107 kPa at 20
degree Celsius)
Mesh element size =
5 mm
2500 N
2500
N
20. SUMMARY
• Most objectives are achieved
• FEA analysis verified
• Modification to the shape of the nose of cabin needs to
be done to improve overall fluid dynamics
21. FUTURE WORK
• Detailed interior design
• FEA on all parts
• Improve mass/strength efficiency of parts based on FEA
results
