Abstract
With the increasing application of underwater glider in ocean observation, more requirements are put forward for its attitude adjustment mechanism. In this paper, an innovative dual-equal-eccentricity attitude regulating mechanism was designed, which can realize the full-angle pitch and roll regulating of the underwater glider. In addition, a new S-type motion pattern was proposed for the station keeping observation of the underwater glider. Subsequently, a dynamic model of the underwater glider containing the dual-equal-eccentricity attitude regulating mechanism was established throught linear momentum and angular momentum equations. According to the dynamic model, the S-type motion was simulated. Simulation results verify the performance of the attitude adjustment mechanism, and it is of great significance for guiding underwater gliders to observe the small-scale marine environment.
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