Analysis and verification of a miniature dolphin-like underwater glider

This paper aims to propose a novel design concept for a biomimetic dolphin-like underwater glider, which can offer the advantages of both robotic dolphins and underwater gliders to achieve high-maneuverability, high-speed and long-distance motions.

To testify the gliding capability of dolphin-like robot without traditional internal movable masses, the authors first developed a skilled and simple dolphin-like prototype with only gliding capability. The hydrodynamic coefficients, including lift, drag and pitching moment, are obtained through computational fluid dynamics method, and the hydrodynamic analysis in the steady gliding motion is also executed.

Experimental results have shown that the dolphin-like glider could successfully glide depending on the pitching torques only from buoyancy-driven system and controllable fins without traditional internal moveable masses.

A hybrid underwater glider scheme that combines robotic dolphin and glider is firstly proposed, shedding light on the creation of innovation gliders with maneuverability and durability.