Abstract: An underwater glider with bionic wings controlled by two operating modes is proposed to perform a variety of marine exploration tasks. The system composition of the vehicle and the structural design of wings inspired by manta ray are presented. The bionic wings can keep outstretched or realize oscillating motions according to the operating modes of the vehicle. A universal dynamic model of the vehicle was derived from multibody theory. Gliding, sailing and steering motions were simulated based on the dynamic model to illustrate the dynamic behaviors of the vehicle under diferent types of propulsion techniques. The results obtained through simulated calculation are basically consistent with the experimental data, which indicate that the developed dynamic model is applicable to describe the motion characteristics of the vehicle. Experiments were conducted in coastal area to analyze the propulsive characteristics of the bionic wings and sea trials involving multifarious motions were carried out, the applicability of the vehicle in marine environment was verifed.

Key words: Underwater glider, Bionic wing, Oscillatory propulsion, Dynamic model