水下机器人的设计与开发

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-04-30 DOI:10.1109/RACE.2015.7097243

Jagjeet Singh, D. Gandhi, M. Sanghani, P. Robi, S. K. Dwivedy

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引用次数: 7

摘要

大多数水下机器人的设计要么是仿生的，要么是电机驱动的推进器操作的。本文提出了一种新颖的四自由度水下机器人推进器设计方案，使水下航行时的阻力影响最小化。本文对可能的船体形状进行了分析。确定形状后，计算压力分布和阻力。在此基础上，建立了相应的数学模型。计算证明了使用圆柱形船体和两对垂直的推进器对水下机器人的效率。最后，考虑到机器人在水下导航过程中可能遇到的困难，提出了适合机器人的电子和通信系统。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design and development of underwater robot

Majority of the design proposed for under water robots have been either biomimetic or motor driven thruster operated. This paper presents a novel design for a 4 degree of freedom thruster operated under water robot minimizing the effect of drag during under water navigation. In the paper possible hull shapes were analyzed. After deciding the shape, pressure distribution and drag forces were calculated. Depending on the result, the mathematical model was built based on suitable assertion. The calculations justify the efficiency of using a cylindrical hull and two perpendicular pairs of thrusters for the underwater robot. Finally, the paper also presents electronics and communication system suitable for the robot considering possible difficulties which may be encountered during underwater navigation.

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2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)

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