Development of a Vertical Submerging and Emerging Bat-Ray-Inspired Underwater Vehicle

Area of Science:

• Robotics
• Biomimetics
• Underwater Vehicle Design

Background:

• Traditional underwater vehicles often rely on complex propulsion systems.
• Mimicking biological designs can lead to more efficient and agile robotic systems.
• The locomotion and maneuverability of bat-rays offer a unique model for underwater robotics.

Purpose of the Study:

• To develop a novel underwater vehicle inspired by the morphology of bat-rays.
• To achieve independent control of forward velocity and full attitude using a simplified propulsion system.
• To validate the vehicle's design and capabilities through mathematical modeling, simulations, and experimental testing.

Main Methods:

• Biomimetic design approach, modeling the vehicle's body on ray fins.
• Integration of two thrusters and two articulated fins for propulsion and attitude control.
• Development and validation of a comprehensive mathematical model encompassing vehicle dynamics and propulsion.
• Numerical simulations and experimental tests to demonstrate performance.

Main Results:

• The bat-ray-inspired architecture enables independent control of forward velocity and vehicle attitude.
• The compact and dexterous design facilitates both vertical submersion/emergence and horizontal navigation.
• Mathematical model validation through simulations confirms the system's predicted behavior.
• Experimental tests successfully demonstrate the vehicle's maneuverability and functional capabilities.

Conclusions:

• The developed bat-ray-inspired underwater vehicle offers a highly maneuverable and efficient platform.
• The biomimetic design successfully integrates simplified propulsion for comprehensive control.
• This approach holds potential for advancing the design of agile and compact underwater robotic systems.