Propulsion Components

Propulsion Engine

The propulsion mechanism controls the forward propulsion with yaw control of the sea glider. the cable is attached to the throttle engine that will create a push and pull motion  similar to a see saw. The parts that were used in the the propulsion mechanism were mostly 3D printed due to their complex dimesnsions and geometry, but most importantly the time restraint of the project.

Endcap

the End cap at the end of the soft actuator prevents water from going through and damage the control system. The End cap has two grooves where o-rings would be placed to create a waterproof seal.

Dragon Skin Silicone 

Dragon skin Silicone is the soft part component that goes through the rigid tail component. The silicone can be made by mixing a measured amount of both Part A and part B, pur it and then wait for 24 hours for best results. Below are demonstration videos of how the dragon skin was poured.

Steel Cable

The steel cable connects all the rigid parts of the tail together and to the propulsion engine that moves the whole tail.

Rigid Tail 

The rigid tail is fabricated out of ABS 3-D printed parts that are conjoined by the dragon skin elastosil.