Design, Construction, and Modeling of a BAUV with Propulsion System Based on a Parallel Mechanism for the Caudal Fin

Traditional propulsion systems for autonomous underwater vehicles (AUVs) have several deficiencies, such as the invasion of the aquatic environment through the generation of noise and damage to the ecosystem, higher energy consumption, and a unidirectional thruster vector. The last characteristic co...

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Bibliographic Details
Published in:Applied sciences 2020-04, Vol.10 (7), p.2426
Main Authors: Aparicio-García, Cristina Tehaní, Naula Duchi, Edisson A., Garza-Castañón, Luis E., Vargas-Martínez, Adriana, Martínez-López, J. Israel, Minchala-Ávila, Luis I.
Format: Article
Language:English
Subjects:
3UCU-1S parallel mechanism
Animal behavior
Aquatic environment
BAUV (biomimetic autonomous underwater vehicle)
Biomimetics
caudal fin vector propulsion
Construction
Design
Energy consumption
Energy efficiency
Fish
Flapping
Humidity
Kinematics
Maneuverability
Noise generation
Propulsion systems
R&D
Research & development
Robots
Sensors
Swimming
Underwater vehicles
vectored thruster
Vehicles
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Summary:Traditional propulsion systems for autonomous underwater vehicles (AUVs) have several deficiencies, such as the invasion of the aquatic environment through the generation of noise and damage to the ecosystem, higher energy consumption, and a unidirectional thruster vector. The last characteristic constrains the maneuverability of the vehicle. This paper proposes a 3-DOF spherical 3 universal–cylindrical–universal and 1 spherical joint (3UCU-1S) parallel mechanism coupled to an artificial caudal fin to produce a vectored thruster for a biomimetic AUV (BAUV). First, the design and construction of the prototype are described. Then, the kinematics and dynamics analysis of the parallel mechanism is presented. Finally, a motion study shows the types of movements that can be achieved with the mechanism to perform flapping of the caudal fin in different directions.
ISSN:2076-3417
2076-3417
DOI:10.3390/app10072426