Numerical simulation of dynamics and fluid dynamics for biomimetic underwater robots

Numerical simulation of dynamics and fluid dynamics for biomimetic underwater robots

Nikolay A. Tschur
PhD in Physics and Mathematics, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Mathematician, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia; Peter the Great Saint Petersburg Polytechnical University (SPbPU), Leading Electronic Engineer, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., RecearcherID: AAH-8421-2019

Elena V. Glazunova
Federal State Unitary Enterprise RUSSIAN FEDERAL NUCLEAR CENTER All-Russian Research Institute of Experimental Physics (FSUE RFNC – VNIIEF), Senior Research Scientist, 37, Muzrukov pr., Sarov, Nizhny Novgorod region, 607188, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-1750-3312

Received October 6, 2021.

The paper presents the results of modeling dynamics and hydrodynamics for two types of biomorphic robots: a snake-like robot and a fish-like robot. There were obtained detailed data on the transient process, which desribes the acceleration of robots from a stationary state. Mentioned acceleration was due to large-scale deformation of the robot surface shape. Flow fields near the deformable surface of the robot performing acceleration were also obtained. In fact, there was solved conjugate problem of the robot dynamics and the hydrodynamics of the flowing around fluid. The calculation method is based on the method of deformable grids. This method allows us to have a conservative approximation scheme for hydrodynamic calculations and to save significant computational resources in comparison with other approaches of the conjugate problem solving.

Key words
Biomorphic underwater robots, computational fluid dynamics, transient process, body-flow interaction, deformable grid, bending deformation.

The results were obtained as an output of the R&D GZ 075-00913-21-03 dated 08/06/2021 «Study of ways to create a multifunctional modular reconfigurable hyper-redundant unmanned underwater vehicle, intended for integration into a robotic complex of three basing environments».


Bibliographic description
Tschur, N. and Glazunova, E., 2022. Numerical simulation of dynamics and fluid dynamics for biomimetic underwater robots. Robotics and Technical Cybernetics, 10(2), pp.104-112.

UDC identifier:


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