Design, Development and Testing of a New Solar-powered Bionic Underwater Glider with Multi-locomotion Modes

Abstract

Most of Unmanned Underwater Vehicles (UUVs) can only perform single-locomotion mode, such as propeller- driven, gliding, paddling and so on. So it is difficult for these vehicles to deal with complicated missions at a fixed-point or in some limited and dangerous spaces. Additionally, energy supply is one of the important factors that seriously affects the detection range and endurance of the UUVs which are not capable to obtain power-importing from outside. As a result of these concerns, we propose a new solar-powered bionic underwater glider with multi-locomotion modes (SBUG). Based on the sea turtles hydrofoil motion and the fish body and /or caudal fin (BCF) locomotion, the bionic structure design of the SBUG includes basically two main parts, a pectoral fin actuation and a caudal actuation. The three-degree-of-freedom (3DOF) pectoral fin actuation and the 2DOF caudal actuation ensure that the SBUG can easily change locomotion modes between gliding, paddling, flapping, tail wagging and walking for various tasks. The flexible solar arrays are attached on the upper curved surface shell and wings of the SBUG so as to provide energy support to increase the voyage time. The basic concept, mechanical design and development of the SBUG are presented in this paper. Moreover, the movement performance of the mechanical prototype is confirmed through in-water trials.