Abstract
This paper presents the development and preliminary experiments of dynamic buoyancy adjusting device with an assist spring. The proposed buoyancy adjusting device is actuated by an electric motor with a passive spring that provides some assistance to the motor. The device can achieve better energy efficiency and higher speed for dynamic control because the assist spring support actuator torque and allows low gear. In this paper, we have designed and developed a dynamic buoyancy adjusting device as a prototype. We have tested the performance of the developed device in a water tank with a depth of 1 meter.
