Design, fabrication, and testing of a maneuverable underwater vehicle with a hybrid propulsor

作     者：Dongqi Gao Tong Wang Fenghua Qin Shiwu Zhang Jun Jing Jiming Yang 

作者机构：Department of Modern MechanicsUniversity of Science and Technology of ChinaHefei 230027China Department of Precision Machinery and Precision InstrumentationUniversity of Science and Technology of ChinaHefei 230027China China Ship Development and Design CenterWuhan 430064China 

出 版 物：《Biomimetic Intelligence & Robotics》 (仿生智能与机器人（英文）)

年 卷 期：2022年第2卷第4期

页      面：21-29页

核心收录：

学科分类：080704[工学-流体机械及工程] 080103[工学-流体力学] 08[工学] 0807[工学-动力工程及工程热物理] 0801[工学-力学（可授工学、理学学位）] 

基　　金：supported by the National Natural Science Foundation of China(11272310 11625211 and 11621202) 

主　　题：UUV Hybrid propulsor Bio-inspired Flapping flippers Bionic 

摘      要：Rapidity and agility are equally important to unmanned underwater vehicles(UUVs).In this study we developed a UUV equipped with a hybrid propulsor which consists of a screw propeller and four bio-inspired *** bionic flippers rely on their flapping motion to generate both thrust and lateral forces,and the screw propeller provides additional thrust for fast *** maneuverability is greatly improved while the capability of sailing fast is *** the typical sailing requests,the flapping motions of the flippers were designed meticulously,and a control algorithm based on central pattern generators(CPGs)was built to produce rhythmic locomotor signals considering the motion ***,a feedback control method was merged to correct the deviation of the course.A compact concentric-shafts transmission mechanism was employed to overcome the inadequacy of the inside space,and the vehicle was ***,the sailing and maneuvering performance were *** was demonstrated that,the UUV’s overall sailing performance was enhanced significantly due to the combination of the flapping flippers and the screw *** hybrid-propulsor vehicle is capable of sailing in multiplicate environments.