Documenti accessibili
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Informazioni generali |
| Autore |
Yue, Chunfeng; Guo, Shuxiang; Shi, Liwei |
| Pubblicato |
InTech Open Access Publisher, 2013
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| Abstract |
This paper describes the development of the
second‐generation Spherical Underwater Robot (SUR‐II).
The new SUR‐II has an improved propulsion system
structure, resulting in better performance compared with
the original design. This paper focuses on the
characteristics of the water‐jet thruster and the spherical
hull of the SUR‐II. To analyse its hydrodynamic
characteristics, the main hydrodynamic parameters of the
SUR‐II were estimated based on two reasonable
assumptions and a reasonable dynamic equation was
proposed to describe the relationship between force and
velocity. Drag coefficients were calculated separately for
vertical and horizontal motions due to the fin on the
robot’s equator and the holes in the robot’s hull. The
holes had a particularly adverse effect on the horizontal
drag coefficient. A hydrodynamic analysis using
computational fluid dynamics was then carried out to
verify the estimated parameters. The velocity vectors,
pressure contours and drag coefficient for each state of
motion were obtained. Finally, the propulsive force was
determined experimentally to verify the theoretical
calculations and simulation results. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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