An Aquatic Robot Propelled by an Internal Rotor
An Aquatic Robot Propelled by an Internal Rotor
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DOI：
10.1109/tmech.2016.2630998
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发表时间：
2017-04
期刊：
影响因子：
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通讯作者：
B. Pollard;Phanindra Tallapragada
中科院分区：
文献类型：
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作者：
B. Pollard;Phanindra Tallapragada
无人驾驶水上交通工具和机器人在各种应用中具有巨大的重要性。在本文中，我们提出了一种欠驱动的水下机器人，是由内部转子推进的模型。机器人的推进力是基于身体和水之间的动量交换，这是由机器人后缘处的涡量产生介导的。机器人没有任何外部鳍，螺旋桨或铰接关节，允许非常容易的制造。实验数据的运动和机动性。
Unmanned aquatic vehicles and robots are of tremendous importance in a variety of applications. In this paper, we present the model of an underactuated aquatic robot that is propelled by an internal rotor. The propulsion of the robot is based on the exchange of momentum between the body and water that is mediated by the creation of vorticity at the trailing edge of the robot. The robot does not have any external fins, propellers, or articulated joints allowing for very easy fabrication. Experimental data on its locomotion and maneuverability are presented.