基于hoberman机构的水下软射流推进

Saverio Iacoponi, G. Picardi, Mrudul Chellapurath, M. Calisti, C. Laschi
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引用次数: 2

摘要

本文介绍了一种用于水下射流推进的霍伯曼球机构的单次脉动试验结果。试验在一个鱼缸中进行,通过视觉跟踪机器人的位置来估计速度和收缩运动学。结果表明,由于霍伯曼球允许的体积变化很大,该系统在速度方面可以达到与以前解决方案相似的性能,同时可以提高产生的推力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Underwater soft jet propulsion based on a hoberman mechanism
This paper presents the results of single pulsation tests aimed to evaluate the performance of a Hoberman sphere mechanism as an underwater jet propulsor. The tests were carried out in a fish tank and the position of the robot was visually tracked to estimate the speed and the contraction kinematic. Results suggest that, due to the great volume variation allowed by the Hoberman sphere, this system can reach similar performances in term of speed with respect to previous solutions, while it can improve the generated thrust.
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