Design of a Variable Buoyancy System for the Hybrid Crawler-Flyer Underwater Vehicle

Abstract

The Hybrid Crawler-Flyer Underwater Vehicle (HUV) is the development trend of underwater robot in recent theoretical research and engineering practice. Buoyancy control is one of the key issues in order to be able to freely switch between crawler and flyer mode. This paper proposed a variable buoyancy system for the HUV. Including piston, transmission system, motor, the sealed cabin and electronic approach switch, the mechanical structure was implemented to control the volume of HUV. Simulations underwater were performed to ensure the its performance under high pressure. The control system was designed to obtain a variable buoyancy. Prototype was built to realize the method proposed.