A Feature-Rich and Modular Aft Section for Autonomous Underwater Vehicles: The Trident Series of Tailcones

This paper presents the Trident series of tailcones developed by the MIT Marine Autonomy Lab, a novel 3-axis aft section design for Autonomous Underwater Vehicles (AUVs), developed through three design iterations and tested on nine assemblies across three different AUV platforms. The design features a modular, field-configurable architecture that supports multiple manufacturing methods and includes innovations such as a pluggable drive module, swappable fins, and a comprehensive interface system for vehicle operations. Key contributions include a feature-rich aft section that simplifies AUV design, A-Size compatibility, and an open design approach for academic and educational applications. The paper discusses design rationale, manufacturing considerations, and presents a sample of preliminary performance data, highlighting the tailcone's potential to advance low-cost, modular AUV research and development.