Modeling and Performance Evaluation of a Novel Bioinspired Ellipsoidal Underwater Robot

摘要

The diverse structural designs of bionic autonomous underwater vehicles (AUVs) offer substantial advantages for ocean exploration, ecological and environmental monitoring, etc. A reasonable structure is crucial for the stable and precise operation of an AUV. In this article, the overall performance of the proposed ellipsoidal underwater robot (EUR), characterized by strong adaptability, flexible movement, and high antipressure ability, is evaluated by combining computational fluid dynamics (CFD) and real-world movement experiments. First, the structural design and motion of the EUR are optimized by CFD simulations, which provide favorable parameter data. Subsequently, the EUR propulsion system is analyzed by calculating velocity, thrust, and antipressure indexes of different models under same conditions. Next, dynamic performance evaluation yields optimized angles, enhancing the flexibility and efficiency of the EUR’s movements. Finally, a number of experiments, including linear, turning, and diving motions, are performed to verify the overall performance of the proposed EUR. Simultaneously, comparative experiments also show that the maneuverability of the EUR is improved. The evaluation methodology employed in this article provides favorable gradient-based parameters for robot control and state estimation, serving as a technical reference for the design of new bionic underwater robots.