Synthesis of a novel morphing lattice structure, for a dual propulsion actuation system of an AUV

This study introduces an innovative synthesis of a dual-actuation system, designed utilizing morphing lattice structures, for implementation in Autonomous Underwater Vehicles (AUVs), functioning as a propulsion actuator. The research investigates a parameterized lattice structure through an implicit stress analysis, in order to gain a better understanding of the constitutive elastoplastic governing equations. Ultimate goal is to optimize the design of a flexible parameterized lattice structure, capable of withstanding repeated loading scenarios under hydrostatic pressure. A novel design methodology is proposed for synthesizing the internal structural configuration of a morphing parameterized motion-actuation mechanism, where the kinematic behavior is governed by the mechanical properties of a specific lattice core, which are intrinsically linked to the parametric constraints of the initial CAD model. The compliant morphing structure design enhances adaptability while maintaining a lightweight framework with moderate load-bearing capacity, making it suitable for AUV applications. To evaluate mechanical performance, a finite element analysis (FEA) was performed, assessing the parameterized flexible actuator in accordance with the proposed design methodology. Strain energy was minimized in regions undergoing elastic deformation, whereas plastic work was minimized in elastoplastic deformation zones to mitigate permanent deformation.