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

Biomimetic Intelligence & Robotics 2022年第4期2卷 21-29页

作者： Dongqi Gao Tong Wang Fenghua Qin Shiwu Zhang Jun Jing Jiming Yang Department of Modern Mechanics University of Science and Technology of ChinaHefei 230027China Department of Precision Machinery and Precision Instrumentation University of Science and Technology of ChinaHefei 230027China China Ship Development and Design Center Wuhan 430064China

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.

关键词： UUV hybrid propulsor Bio-inspired Flapping flippers Bionic

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