Mechatronic design and implementation of a novel gliding robotic dolphin

This paper provides an innovative design for a gliding robotic dolphin. In order to realize high maneuverability and long endurance, the robotic dolphin combines the advantages of both robotic dolphins and underwater gliders. It can not only realize fast and flexible dolphin-like swimming depending on the powerful propulsive posterior body and fluke, but also implement gently and durable gliding motion due to the buoyancy-driven system. More importantly, the controllable pectoral fins and horizontal fluke can effectively complete the attitude adjustment, so traditional internal movable masses could be removed for saving a considerable space. Besides, the hydrodynamic analysis in the steady gliding motion is executed and hydrodynamic coefficients including lift, drag, and pitching moment are also obtained through Computational Fluid Dynamics (CFD) method. Finally, extensive experiments including dolphin-like swimming, spiraling motion and gently gliding motion illustrate the great locomotion ability of the developed gliding robotic dolphin.