Optimal Design of the Shell Structure of a Disk-Shaped Water-Spraying Robot
Optimal Design of the Shell Structure of a Disk-Shaped Water-Spraying Robot
复制标题
盘形喷水机器人壳体结构优化设计
DOI：
10.4031/mtsj.55.2.6
复制
发表时间：
2021-03
影响因子：
0.8
通讯作者：
Feihu Xi
中科院分区：
文献类型：
--
作者：
Gang Chen;Zhenyu Wang;Sheng Yang;Lixin Pan;Zhiyang Wu;Chidong Yu;Feihu Xi
摘要狭窄环境下的水下探测任务对潜水器的动力学模态和壳体设计有着严格的要求。具体来说，这些潜水器应该具有水平机动性，以便在狭窄的环境中移动。一定是。在垂直方向上也要保持一定程度的稳定性，以实现这些潜水器在一定深度的稳定性，以便进行观察。圆盘形壳体在水平方向上具有球形壳体的可动性，在水平方向上具有饼形壳体的稳定性。垂直方向。为此，通过对各种壳体形状的对比分析，制定了喷水水下机器人圆盘形壳体的设计方案。为了实现不同方向的运动，使用Fluent流体模拟软件进行连续模拟。并优化这些外壳形状。通过横向和纵向比较，分析了模拟得到的总压和力等相关参数。圆盘形壳体在水平面上的操纵性和在垂直面上的稳定性。后来被证实。在此基础上，设计了圆盘喷水机器人系统，并进行了直线运动和旋转运动实验。本研究为我国的农业产业化提供了新的思路和理论支持。设计了水下狭窄环境下的潜水器外形，促进了狭窄空间水下探测技术的发展。
Abstract Underwater exploration tasks in a narrow environment have stringent requirements related to the dynamic mode and shell design of underwater submersibles. Specifically, these submersibles should have horizontal maneuverability to move in a narrow environment. A certain. degree of stability in the vertical direction should also be maintained to realize the stability of these submersibles at a certain depth for observation. A disk-shaped shell has the mobility of a spherical shell in the horizontal direction and the stability of a pancake-shaped shell in the. vertical direction. Therefore, a design scheme for a disk-shaped shell of a water-spraying underwater robot was formulated through a comparative analysis of various shell shapes. To achieve movement in different directions, the Fluent fluid simulation software was used to continuously simulate. and optimize these shell shapes. Relevant parameters, such as total pressure and force, that were obtained from the simulation were analyzed through horizontal and vertical comparisons. The maneuverability of the disk-shaped shell on the horizontal plane and its stability on the vertical plane. were subsequently verified. Based on the measured maneuverability, the system of the disk-shaped water-spraying robot was designed, and a movement experiment was conducted to examine the straight and rotational motions of this robot. This study provides new ideas and theoretical support for. designing the shape of submersibles in narrow underwater environments and promotes the development of underwater exploration technologies for narrow spaces.
登录
查看更多内容
影响因子：
2
作者：
J. Ayers
通讯作者：
J. Ayers
影响因子：
5
作者：
T. Tezdogan;Y. Demirel;Paula Kellett;Mahdi Khorasanchi;A. Incecik;O. Turan
通讯作者：
T. Tezdogan;Y. Demirel;Paula Kellett;Mahdi Khorasanchi;A. Incecik;O. Turan
DOI：
--
发表时间：
2002
期刊：
Journal of Ship Mechanics
影响因子：
--
作者：
Liu Zheng-yuan
通讯作者：
Liu Zheng-yuan
DOI：
10.1109/oceans.2004.1405568
发表时间：
2004-11
期刊：
Oceans '04 MTS/IEEE Techno-Ocean '04 (IEEE Cat. No.04CH37600)
影响因子：
--
作者：
T. Ura;T. Obara;K. Nagahashi;K. Kim;Y. Oyabu;T. Sakamaki;A. Asada;H. Koyama
通讯作者：
T. Ura;T. Obara;K. Nagahashi;K. Kim;Y. Oyabu;T. Sakamaki;A. Asada;H. Koyama
DOI：
10.3390/s19224848
发表时间：
2019-11
期刊：
Sensors (Basel, Switzerland)
影响因子：
--
作者：
Yuqian Liu;Jiaxing Che;C. Cao
通讯作者：
Yuqian Liu;Jiaxing Che;C. Cao