Design and Control of a Bionic Underwater Collector Based on the Mouth Mechanism of Stomiidae

Deep-sea mining has gradually emerged as a core domain in global resource exploitation. Underwater autonomous robots, characterized by low cost, high flexibility, and lightweight properties, demonstrate significant advantages in deep-sea mineral development. To address the limitations of traditional deep-sea mining equipment, such as large volume, high energy consumption, and insufficient flexibility, this paper proposes an innovative Underwater Vehicle Collector System (UVCS). Integrating bionic design with autonomous robotic technology, this system features a collection device mimicking the large opening–closing kinematics of the mouth of deep-sea dragonfish (Stomiidae). A dual-rocker mechanism is employed to realize the mouth opening-closing function, and the collection process is driven by the pitching motion of the vehicle without the need for additional motors, thus achieving the advantages of high flexibility, low energy consumption, and light weight. The system is capable of collecting seabed polymetallic nodules with diameters ranging from 1 to 12 cm, thus providing a new solution for sustainable deep-sea mining. Based on the dynamics of UVCS, this paper verifies its attitude stability and collection efficiency in planar motions through single-cycle and multi-cycle simulation analyses. The simulation results indicate that the system operates stably with reliable collection actions. Furthermore, water tank testings demonstrate the opening and closing functions of the UVCS collection device, fully confirming its design feasibility and application potential. In conclusion, the UVCS system, through the integration of bionic design, opens up a new path for practical applications in deep-sea resource exploitation.