The theory of metamorphic mechanism ball balancer for Super Mini Underwater Vehicles

The paper discusses the anti-disturbance mechanism of Super-mini Underwater Vehicles. A kind of metamorphic mechanism balancer has been proposed to conduct attitude adjustment when the vehicles suffer from external disturbance such as rolling and pitching. The paper first builds the 3D model of the spherical metamorphic mechanism and analyzes its internal structural characteristics. Then designs the structure of balancer system and analyzes the metamorphic features of the ball. At last, we simulate the rolling motion. Simulation results verify the feasibility and show that the spherical metamorphic mechanism balancer can effectively adjust the vehicle´s attitude to balance posture.