Mar-Castro Enrique, May-Rodríguez Sergio Alejandro, Núñez-Cruz Rafael Stanley, Antonio-Yañez Elba Dolores, Aparicio-Lastiri Luis Mario, Herrera-Vidal Juan
Control and Design Laboratory, Polytechnic University of Tulancingo, Tulancingo de Bravo 43629, Mexico.
Biomimetics (Basel). 2024 Sep 25;9(10):582. doi: 10.3390/biomimetics9100582.
In this article, the development of a bat-ray-inspired underwater vehicle is presented; although the propulsion of the vehicle is based on traditional thrusters, the shape of the ray's fins was used as a model to design the body of the vehicle; this architecture allows the independent control of the forward velocity and the full attitude of the vehicle using only two thrusters and two articulated fins. The compact design of the robot, along with the high dexterity of the architecture, allows the vehicle to submerge and emerge vertically as well as navigate horizontally. The mathematical model of the proposed vehicle, including dynamics and propulsion system, is presented and validated using numerical simulations. Finally, experimental tests are presented to demonstrate the capabilities of the proposed design.
本文介绍了一种受蝠鲼启发的水下航行器的研制情况；尽管该航行器的推进基于传统推进器，但射线鳍的形状被用作设计航行器主体的模型；这种结构仅使用两个推进器和两个铰接鳍就能独立控制航行器的前进速度和全姿态。机器人的紧凑设计以及结构的高度灵活性，使该航行器能够垂直下潜和浮出水面，也能水平航行。给出了所提出航行器的数学模型，包括动力学和推进系统，并通过数值模拟进行了验证。最后，进行了实验测试以证明所提出设计的能力。
