Academic Journal of Engineering and Technology Science, 2023, 6(10); doi: 10.25236/AJETS.2023.061004.
Jiayi Li1, Meng Zhang2, Minang Ouyang3, Chongxiao Jiang4, Mincan Ma5, Junhao Deng6, Xiaoqing Zhu7
1School of Mechanical and Aerospace Engineering, Jilin University, Changchun, Jilin, China
2School of International Education, Changchun University of Technology, Changchun, Jilin, China
3School of Electrical Information, Southwest Petroleum University, Chengdu, Sichuan, China
4School of Electrical Engineering, Northeast Electric Power University, Jilin, Jilin, China
5Modesto Christian School, Modesto, California, America
6Chongqing No. Eight Secondary School, Chongqing, China
7Faculty of Information Technology, Beijing University of Technology, Beijing, China
With the continuous advancement of technology, human exploration and excavation of the ocean have deepened. The use of Autonomous Underwater Vehicles (AUVs) to assist and replace human operations in complex marine environments is becoming increasingly popular. This paper presents the design and modeling of an octopus-like Autonomous Underwater Vehicle with multiple functions. Kinematics simulation of the vehicle is also conducted. The study begins by investigating the current research status of Unmanned Underwater Vehicles in various countries, followed by proposing an improvement plan based on an analysis of the advantages and disadvantages of different types of Unmanned Underwater Vehicles. Subsequently, inspired by the body structure of an octopus, a three-dimensional model is created using SolidWorks. The model is then imported into Adams for dynamics simulation. Constraints, drives, and forces are applied to the vehicle to simulate the underwater environment. The Adams simulation results demonstrate that the designed octopus underwater robot can successfully perform various underwater tasks, including ascending, descending, harmonic motion, turning motion, and sample collection.
Bionic function, Octopus, AUV, Pendulum, Spherical appearance
Jiayi Li, Meng Zhang, Minang Ouyang, Chongxiao Jiang, Mincan Ma, Junhao Deng, Xiaoqing Zhu. Design and Simulation of an Octopus-like AUV. Academic Journal of Engineering and Technology Science (2023) Vol. 6, Issue 10: 29-38. https://doi.org/10.25236/AJETS.2023.061004.
[1] Zhu Daqi & Hu Zhen. (2018). Research status and prospect of deep-sea Submersible. Journal of Anhui Normal University (Natural Science Edition) (03), 205-216. doi:10. 14182/J. cnki. 1001-2443. 2018. 03. 001.
[2] Wang Chaoqun, Mei Dan, Wang Yu, Yu Xiwen, Sun Wen, Wang Dong & Chen Junquan. (2022). Task allocation for Multi-AUV system: A review. Ocean Engineering (P3). doi:10. 1016/J. OCEANENG. 2022. 112911.
[3] Cheng Chunxi, Sha Qixin, He Bo & Li Guangliang. (2021). Path planning and obstacle avoidance for AUV: A review. Ocean Engineering. doi:10. 1016/J. Oceaneng. 2021. 109355.
[4] Guo Yinjing, Liu Hui, Fan Xiaojing & Lyu Wenhong. (2021). Research Progress of Path Planning Methods for Autonomous Underwater Vehicle. Mathematical Problems in Engineering. doi:10. 1155/ 2021/8847863.
[5] Pere Ridao, Marc Carreras, David Ribas, Pedro J. Sanz & Gabriel Oliver. (2015). Intervention AUVs: The next challenge. Annual Reviews in Control. doi:10. 1016/j. arcontrol. 2015. 09. 015.
[6] Zhang Bingbing, Ji Daxiong, Liu Shuo, Zhu Xinke & Xu Wen. (2023). Autonomous Underwater Vehicle navigation: A review. Ocean Engineering. doi:10. 1016/J. Oceaneng. 2023. 113861.
[7] Li Shuo, Wu Yuantao, Li Chen, Zhao Hongyu&Li Yiping (2022). Application and Prospects of Underwater Robots Journal of the Chinese Academy of Sciences (07), 910-920. doi:10. 16418/j. issn. 1000-3045. 20220506001.
[8] Wang Jianbin&Wang Zhimin (2007). Development, Application, and Key Technologies of UUV Information and Electronic engineering (06), 476-480.
[9] Tetsuji Maki. (2006). Development of Advanced Secondary Cables for the Kaiko. Sea Technology: Worldwide Information Leader for Marine Business, Science & Engineering(7).
[10] Angelo Odetti, Marco Bibuli, Giorgio Bruzzone. & Gabriele Bruzzone. (2017). e-URoPe: a reconfgurable AUV/ROV for man-robot underwater cooperation. IFAC PapersOnLine(1). doi:10. 1016/j. ifacol. 2017. 08. 2089.
[11] Mae L. Seto (2012). Marine Robot Autonomy. Springer, New York, NY.
[12] Zhao Qiaoqiao, Zhang Lichuan, Liu Lu&Pan Guang (2022). Overview of key energy-saving technologies for underwater biomimetic robot clusters Journal of Northwestern Polytechnical University (03), 576-583.
[13] McPhail S, Furlong M, Huvenne V, Perrett J, Pebody M, Stevenson P. (2009). Autosub6000: its first deepwater trials and science missions. Underwater Technology (3). doi:10. 3723/UT. 28. 091.
[14] C Stefanini, S Orofino, L Manfredi, S Mintchev, S Marrazza, T Assaf. . . & P Dario. (2012). A novel autonomous, bioinspired swimming robot developed by neuroscientists and bioengineers. Bioinspiration & Biomimetics (2). doi:10. 1088/1748-3182/7/2/025001.
[15] Mathieu Porez, Frédéric Boyer & Auke Jan Ijspeert. (2014). Improved Lighthill fish swimming model for bio-inspired robots: Modeling, computational aspects and experimental comparisons. The International Journal of Robotics Research (10). doi:10. 1177/0278364914525811.