Design and 3D Motion Modeling of a 300-m Gliding Robotic Dolphin

摘要

This paper presents the mechatronic design and three-dimensional (3D) motion modeling of a gliding robotic dolphin capable of diving as deep as 300 m. Propulsion modes of bio-inspired robotic dolphin and traditional underwater gliders are integrated into the robot in order to endow it with both high maneuverability and long endurance simultaneously. It is realized by introducing a buoyancy adjusting mechanism on the basis of a bio-inspired robotic dolphin. Particular design on mechanical seal and compressive strength is implemented to achieve large diving depth. Further, a full-state dynamic model for 3D gliding motion is established for motion analysis. In comparison with traditional underwater gliders, the robot's flippers and fluke are controllable and thereby enrich the state-regulating modes of gliding motion, which is considered specially in the dynamic model. Simulations are conducted to analyze the robot's 3D gliding motion. Experiments are also carried out to validate the robot's gliding performance and the effectiveness of the formulated dynamic model.