水下机器人行走推进装置足部从底部起升最佳规律的确定

E. Briskin, Y. Kalinin, L. Smirnaya
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引用次数: 2

摘要

考虑作用在水下移动机器人行走推进装置上的附加“压缩”力,研究其足部的升降问题。根据亨利关于液体中溶解空气浓度的定律、恒温下气体膨胀定律、达西关于流体过滤的定律和固体质心运动的定理,建立了推进脚脱离地面的数学模型。线性化模型允许得到和解析解。在求解变分问题的基础上,建立了水下移动机器人行走推进机构足部提升的最优模式。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
On determining the optimal lifting law of the walking propulsion device foot of an underwater robot from the bottom
The problem of lifting the foot of the walking propulsion device of an underwater mobile robot is considered, taking into account the additional “compression” force acting on it. A mathematical model has been developed for the detachment of a propulsion foot from the ground, based on Henry's laws establishing the concentration of dissolved air in a liquid, the law of gas expansion at a constant temperature, Darcy's law on fluid filtration and the theorem on the motion of the center of mass of a solid body. The linearized model allows to obtain and analytical solutions. Based on the solution of the variational problem, optimal modes of lifting the foot of the walking propulsion of an underwater mobile robot are established.
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