Autonomous Underwater Vehicle

ST2.1 is an Autonomous Underwater Vehicle which had been improved from its mechanical structure. A magnetic system is used instead of waterproof motor direct control to the mechanism. There are 3 mechanical joints which convert linear motion to other movements (1.Propeller direction 2.Balance load position 3.Gripper). It only needed normal DC motors and pulley-gear belt system to drive the magnet positions which dramatically decrease the cost. In addition, the pairs of flexible fins increase the turning efficiency, more smooth and stable. The special of the gripper is using only one supply to control 2 movements, one is double extend, another is gripper.