Hydrodynamic Prediction of Multi-Legged Positions and Gestures During C-SV Cruising

Abstract

This paper studies the hydrodynamic coefficients of multi-legged positions and gestures during crawling-swimming vehicle(C-SV) cruising, which includes resistance, oblique and pure pitch movement. Hybrid mesh is adopted during computation, because it can avoid mesh distortion caused by dynamic mesh and improve computation efficiency. The results show that resistance of multi-legs accounts for a large component of total resistance. The trends of vertical force and pitching moment of C-SVs are related to multi-legged positions and gestures. Computational results of pure pitching movement have relative errors, which needs further research and experiment validation.