Abstract
Traditional propulsion systems for autonomous underwater vehicles (AUVs) have several deficiencies, such as the invasion of the aquatic environment through the generation of noise and damage to the ecosystem, higher energy consumption, and a unidirectional thruster vector. The last characteristic constrains the maneuverability of the vehicle. This paper proposes a 3-DOF spherical 3 universal–cylindrical–universal and 1 spherical joint (3UCU-1S) parallel mechanism coupled to an artificial caudal fin to produce a vectored thruster for a biomimetic AUV (BAUV). First, the design and construction of the prototype are described. Then, the kinematics and dynamics analysis of the parallel mechanism is presented. Finally, a motion study shows the types of movements that can be achieved with the mechanism to perform flapping of the caudal fin in different directions.
Highlights
A significant part of the Earth is made of water provenience of lakes, rivers, and oceans, most of them still unexplored [1,2,3,4]
We introduce a novel design of a biomimetic AUV (BAUV) with a bio-inspired propulsion system based on a 3 universal–cylindrical–universal and spherical joint (3UCU-1S) (3 universal–cylindrical–universal and 1 spherical joint) parallel mechanism that allows vectored thrust
Fishes have many types of swimming locomotion classified into two types of movement: body caudal fin (BCF) and median or paired fin (MPF)
Summary
A significant part of the Earth is made of water provenience of lakes, rivers, and oceans, most of them still unexplored [1,2,3,4]. Autonomous underwater vehicles (AUVs) are robots that navigate based on algorithms and surrounding information They are equipped with multiple advanced sensors to carry out exploration, operations of intelligence, and reconnaissance, as well as maritime research and development [1,2]. Natural selection ensures that the biological systems in fish evolve in their habitat and with their way of life Their skills can inspire innovative designs to improve how man-made systems operate and interact with the aquatic environment [8]. Parallel mechanisms have been implemented in the development of AUVs to orient the thrust vector of the propeller propulsion. We introduce a novel design of a BAUV with a bio-inspired propulsion system based on a 3UCU-1S (3 universal–cylindrical–universal and 1 spherical joint) parallel mechanism that allows vectored thrust. The authors consider that the concepts introduced in this paper are a step forward for improved maneuverability and energy efficiency
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