Preliminary concept of a novel spherical underwater robot
Preliminary concept of a novel spherical underwater robot
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DOI：
10.1504/ijma.2015.068449
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发表时间：
2015-04
期刊：
影响因子：
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通讯作者：
Yaxin Li;Shuxiang Guo;Chunfeng Yue
中科院分区：
文献类型：
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作者：
Yaxin Li;Shuxiang Guo;Chunfeng Yue
本文介绍了一种新型球形水下机器人（SUR）的初步概念。新型SUR采用球形船体，并配备多个矢量喷水推进器。本文主要对新型球形水下机器人的结构进行了初步设计。在此基础上，对结构进行了有限元分析，验证了结构的强度和方案的可行性。同时，对机器人的动力学和运动学进行了仿真，验证了新结构的稳定性和有效性。根据球形机器人的结构特点，应用拉格朗日-劳斯方程，建立了球形机器人的动力学模型。利用CATIA软件建立了机器人的三维实体模型，并在此基础上进行了有限元分析。然后将模型导出到亚当斯中进行仿真。给出了MATLAB/Simulink与亚当斯相结合的仿真结果。仿真结果表明，该虚拟样机系统具有仿真演示和性能验证的能力，为AUV图形仿真提供了一种新的方法。
This paper describes the preliminary concept of a novel spherical underwater robot (SUR). The novel SUR employs a spherical hull and equipped with multiple vectored water–jet–based thrusters. This paper focuses on the preliminary design of the novel spherical underwater robot's structure. Based on the structure, the finite element analysis is used to test the strength of structure and the feasibility of the concept. Meanwhile, the simulation of the robot's dynamics and kinematics is also finished to verify the stabilisation and validity of the new structure. On the basis of the structural characteristics of the spherical robot, its dynamic model is derived by applying the Lagrange–Routh equations briefly. A 3D model of robot is built by CATIA and finite element method is applied base on the model. Then the model is exported to ADAMS for simulation. The results of simulation by combining MATLAB/Simulink with ADAMS are presented. The simulation results indicate that the proposed virtual prototype system has the capability of simulative demonstration and performance validation, and can provide an innovative approach for AUV graphic simulation.