Journal of Bionic Engineering (2022) 19:1–15 https://doi.org/10.1007/s42235-021-00130-8
Dynamic Model and Motion Characteristics of an Underwater Glider with Manta-inspired Wings
Yaqiang Zhu1 · Yuhong Liu1 · Lianhong Zhang1,2 · Yanhui Wang1,2 · Wendong Niu1,2 · Cheng Huang1
1 Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, 300350, China
2 The Joint Laboratory of Ocean Observing and Detection, Pilot National Laboratory for Marine Science and Technology (Qingdao), Qingdao, 266237, China
Abstract An underwater glider with bionic wings controlled by two operating modes is proposed to perform a variety of marine exploration tasks. The system composition of the vehicle and the structural design of wings inspired by manta ray are presented. The bionic wings can keep outstretched or realize oscillating motions according to the operating modes of the vehicle. A universal dynamic model of the vehicle was derived from multibody theory. Gliding, sailing and steering motions were simulated based on the dynamic model to illustrate the dynamic behaviors of the vehicle under diferent types of propulsion techniques. The results obtained through simulated calculation are basically consistent with the experimental data, which indicate that the developed dynamic model is applicable to describe the motion characteristics of the vehicle. Experiments were conducted in coastal area to analyze the propulsive characteristics of the bionic wings and sea trials involving multifarious motions were carried out, the applicability of the vehicle in marine environment was verifed.
Keywords Underwater glider · Bionic wing · Oscillatory propulsion · Dynamic model
System layout of BWUG