Parametric Design and Experimental Verification of Cicada-wing-inspired Controllable Wing Mechanism for Underwater Glider

To improve the maneuverability of hybrid-driven underwater glider PETREL-II in propulsion mode, this paper puts forward a kind of controllable wing mechanism for PETREL-II, which can be deployed and stowed like a cicada wing. The functions of the mechanism parameters with wing leading edge sweep angle of PETREL-II are obtained. The regulation for the variation of hydrodynamic parameters of the whole glider with wing driving angle is analyzed, which can be used for the hydrodynamic parameters control of the PETREL-II. Considering the optimal layout of the driving system, a controllable wing of PETREL-II prototype has been designed and manufactured. The controllable wing unfolding and stowing process of the prototype has been tested in the trial tank, and the anticipated movements are achieved, which can also provide a theoretical reference for the design of deployable wing mechanisms of the winged underwater vehicles.