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Design and study of a bionic docking device for autonomous underwater vehicles
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DOI：10.1016/j.oceaneng.2025.121041.png)
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Abstract
En 中文
Autonomous underwater vehicle (AUV) docking devices have been widely studied, however, the existing docking devices have the problems of damaging the AUV shell and low docking success. Based on the excellent hunting performance of octopus, this paper investigates and designs an octopus-like docking device. The structure of the device is similar to an octopus, and the actuator consists of four rows and four columns of sub-actuators, each of which moves independently and is equipped with a suction cup. Based on the sucker grasping mechanism of the octopus, the control scheme of the actuator is proposed. The finite element simulation method is used to analyze the structure of the device and optimize the drag reduction, and the docking process is simulated. The feasibility of the control scheme and the load-bearing capacity of the device are evaluated through physical experiments. The results show that the suction cup grasping will not damage the experimental shell, and the control scheme is feasible and can improve the docking success. When the pressure between each suction cup and the shell is 7 N, the maximum load capacity of the device is 11.2 kg, and the docking device has a certain load capacity.
Keywords:
AUV recovery
Octopus
Bionic
Docking device
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