Research On The Underwater Gliding Snake-like Robot

This paper introduces the bionic background and development trend of snake-like robot.By comparing the research status of snake-like robot and underwater glider,the advantages of snake-like robot and glider are summarized.Applying the advantages of underwater glider's strong endurance to underwater snake-like robot,a new type of snake-like robot with strong endurance and good maneuverability is developed Based on the joint structure of biological snake and the working principle of glider,snake joint and buoyancy regulating joint are designed.The main contents of this paper are structural design,hydrodynamic analysis and launching experiment of underwater gliding snake-like robot.The main research work of this paper is divided into three parts:Structure design of underwater gliding snake-like robot.Structural design is the premise and foundation of snake-like robot research.According to the structural characteristics of snake joints,most of the joint units of snake-like robots adopt modular design idea.Modular design can save processing costs,to facilitate maintenance and improvement.The structure design of underwater gliding snake-like robot mainly includes snake joint,buoyancy adjustment joint,sealing mechanism,gliding wing and tail wing.Serpentine joint and buoyancy regulating joint are the core of the structure.In the structural design stage,the control circuit,communication mode,rotational range and power size of underwater gliding snake-like robot need to be considered comprehensively.Fluid dynamics analysis of an underwater gliding snake-like robot.Aiming at the simplified gliding snake model,the three-dimensional geometric model is established by Solidworks software according to the size parameters,the geometric model is meshed by ICEM software,and the boundary conditions are set up by ANSYS FLUENT software,including inlet,outlet,wall and fluid domain,iterative operation.The pressure field,velocity field of underwater gliding snake-like robot under different gliding speed and different angle of attack are simulated,and the cloud figure is obtained.Prototype and experiment of underwater gliding snake-like robot.According to the design goal of the gliding snake-like robot,a prototype of a rectangular flat-wing gliding snake-like robot is designed,and the joint module is assembled,the gliding snake-like robot is debugged,and the leakage of the sealing part is tested.Before the gliding test,the snake-like robot first carries out the preparation of long-term sealing test quality matching Finally,the experiments of gliding,compound gliding and serpentine motion were carried out in the deepwater pool.According to the experimental results,the second generation prototype is designed,which uses trapezoidal wing with sweep angle and and adds a flexible tail at the tail.