Design and Analysis of a Bionic Gliding Robotic Dolphin

Area of Science:

• Robotics
• Biomimetics
• Mechanical Engineering

Background:

• Dolphin-inspired robotic systems offer advanced aquatic locomotion.
• Existing designs often lack the maneuverability for complex underwater movements.
• Improving robotic dolphin agility is crucial for diverse applications.

Purpose of the Study:

• To design and analyze a novel bionic gliding robotic dolphin.
• To enhance maneuverability through a unique yaw joint mechanism.
• To validate the robotic dolphin's performance in various aquatic motions.

Main Methods:

• Development of a bionic gliding robotic dolphin with a novel yaw joint.
• Construction of a hybrid-driven dynamic model using the Newton-Euler method.
• Conducting simulations and experiments for forward swimming, gliding, and turning.

Main Results:

• The robotic dolphin achieved flexible motion patterns through coordinated control of flippers, yaw joint, oscillating joints, and buoyancy.
• The dynamic model accurately analyzed propulsive performance in both swimming and gliding modes.
• Simulations and experiments confirmed the effectiveness of the developed robotic dolphin.

Conclusions:

• The novel bionic gliding robotic dolphin with an integrated yaw joint significantly improves maneuverability.
• The developed dynamic model provides a robust framework for analyzing robotic dolphin performance.
• The robotic dolphin effectively replicates dolphin-like swimming and gliding motions, validating its design.